Aerostat precise inflation and deflation control method, system, equipment and medium

Abstract

The invention provides an aerostat precise inflation and deflation control method, system and device and a medium, and relates to the technical field of aerostat flight control, and the method comprises the steps: obtaining real-time sensor data based on the inflation and deflation control type of an aerostat; according to the real-time sensor data and preset sensor data, a corresponding environment function value of the aerostat in the current inflation and deflation process is obtained through calculation; calculating a real-time characteristic value of the aerostat based on the environment function value and a preset sampling period; and when it is determined that the real-time characteristic value meets the preset condition, the inflation and deflation process of the aerostat is stopped. According to the invention, accurate control of inflation / deflation of the aerostat can be ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of airship flight control, and particularly relates to an airship precise inflation and deflation control method, system, device and medium. BACKGROUND

[0002] An airship refers to a flying vehicle filled with gas lighter than air in a gas bag and lifted by atmospheric buoyancy, including balloons and airships, wherein the gas bag structure of the airship and the super-pressure balloon includes a lift gas bag and an air bag.

[0003] The airship and the super-pressure balloon have different flight stages such as unshaped ascent, shaped level flight and unshaped descent, and the buoyancy can be adjusted by discharging or inflating gas in different flight stages, so as to realize speed adjustment of the unshaped ascent and descent stages and flight height adjustment of the shaped level flight stage.

[0004] The airship inflation is realized by opening the fan and the valve controlled by the flight control computer, and the air discharge is realized by opening the valve controlled by the flight control computer. The existing control method mainly sets the opening time of the fan / valve. The inflation / deflation capacity of the fan / valve is closely related to the environment of the airship and the pressure difference itself. However, the time required to inflate or discharge the same mass of gas is very different under different working conditions. If the time control method is used to control the inflation / deflation amount, it is difficult to achieve accurate control. Therefore, there is an urgent need for an airship precise inflation and deflation control method, system, device and medium to solve the above problems. SUMMARY

[0005] In view of the problems in the prior art, the present application provides an airship precise inflation and deflation control method, system, device and medium.

[0006] The present application provides an airship precise inflation and deflation control method, comprising: Based on the inflation and deflation control type of the airship, real-time sensor data is obtained; According to the real-time sensor data and the preset sensor data, the environment function value corresponding to the current inflation and deflation process of the airship is calculated; Based on the environment function value and the preset sampling period, the real-time characteristic value of the airship is calculated; When it is determined that the real-time characteristic value meets the preset condition, the inflation and deflation process of the airship is stopped.

[0007] According to the airship precise inflation and deflation control method provided by the present application, the inflation and deflation control type includes a first air bag inflation control process, a helium discharge control process, an air bag discharge control process and a second air bag inflation control process; The first air bag inflation control process represents an air bag inflation control process of the aerostat in a non-shaping ascending stage; the helium discharge control process represents a helium discharge control process of the aerostat in the non-shaping ascending stage or a shaping level flight stage; the air bag discharge control process represents an air bag discharge process of the aerostat in the shaping level flight stage; and the second air bag inflation control process represents an air bag inflation process of the aerostat in the shaping level flight stage.

[0008] According to the present application, a precise inflation and discharge control method of an aerostat is provided, which is based on the inflation and discharge control type of the aerostat, and real-time sensor data is obtained, including: When it is determined that the aerostat is in the first air bag inflation control process, the real-time sensor data is constructed according to the current first ambient air pressure real-time data and the first ambient temperature real-time data of the aerostat; When it is determined that the aerostat is in the helium discharge control process or the air bag discharge control process, the real-time sensor data is constructed according to the current second ambient air pressure real-time data and the bag body pressure difference real-time data of the aerostat, wherein when the aerostat is in the helium discharge control process, the bag body pressure difference real-time data represents the real-time data of the pressure difference of the helium bag body; and when the aerostat is in the air bag discharge control process, the bag body pressure difference real-time data represents the real-time data of the pressure difference of the air bag body; When it is determined that the aerostat is in the second air bag inflation control process, the real-time sensor data is constructed according to the current third ambient air pressure real-time data, the second ambient temperature real-time data and the fan flow real-time data of the aerostat; Before the environmental function value corresponding to the current inflation and discharge process of the aerostat is calculated according to the real-time sensor data and the preset sensor data, the method further includes: The preset sensor data is constructed according to the ambient air pressure preset data, the ambient temperature preset data, the bag body pressure difference nominal data and the fan flow nominal data, wherein when the aerostat is in the helium discharge control process, the bag body pressure difference nominal data represents the nominal data of the pressure difference of the helium bag body; and when the aerostat is in the air bag discharge control process, the bag body pressure difference nominal data represents the nominal data of the pressure difference of the air bag body.

[0009] According to the present application, a precise inflation and discharge control method of an aerostat is provided, which is based on the inflation and discharge control type of the aerostat, and real-time sensor data is obtained, including: determining that the aerostat is in the first air bag inflation control process, obtaining a first air pressure ratio value according to a ratio between the first real-time ambient air pressure data and the preset ambient air pressure data; obtaining a first temperature ratio value according to a ratio between the preset ambient temperature data and the first real-time ambient temperature data; obtaining the environmental function value corresponding to the aerostat in the current inflation and deflation process based on a product between the first air pressure ratio value and the first temperature ratio value.

[0010] According to the aerostat precision inflation and deflation control method provided by the application, the environmental function value corresponding to the aerostat in the current inflation and deflation process is calculated according to the real-time sensor data and the preset sensor data, and the method further comprises: determining that the aerostat is in the helium discharge control process or the air bag discharge control process, obtaining a second air pressure ratio value according to a ratio between the second real-time ambient air pressure data and the preset ambient air pressure data; obtaining a pressure difference ratio value according to a ratio between the real-time capsule pressure difference data and the nominal capsule pressure difference data; obtaining the environmental function value corresponding to the aerostat in the current inflation and deflation process by performing a product and square root operation on the second air pressure ratio value and the pressure difference ratio value.

[0011] According to the aerostat precision inflation and deflation control method provided by the application, the environmental function value corresponding to the aerostat in the current inflation and deflation process is calculated according to the real-time sensor data and the preset sensor data, and the method further comprises: determining that the aerostat is in the second air bag inflation control process, obtaining a third air pressure ratio value according to a ratio between the third real-time ambient air pressure data and the preset ambient air pressure data; obtaining a fan flow ratio value according to a ratio between the real-time fan flow data and the nominal fan flow data; obtaining a second temperature ratio value according to a ratio between the second real-time ambient temperature data and the preset ambient temperature data; obtaining the environmental function value corresponding to the aerostat in the current inflation and deflation process based on a ratio between a product of the third air pressure ratio value and the fan flow ratio value and the second temperature ratio value.

[0012] According to the aerostat precision inflation and deflation control method provided by the application, the preset conditions include a preset total inflation characteristic quantity, a nominal helium discharge characteristic quantity, a nominal total discharge characteristic quantity and a nominal total inflation characteristic quantity, wherein: The preset total inflation characteristic is obtained based on the expected volume of the air bladder of the airship and the zero-pressure volume flow rate of the blower. The nominal helium emission characteristic quantity is obtained based on the preset helium emission mass, the helium emission rate of the airbag valve, the preset ambient pressure data, and the nominal pressure difference data of the airbag body. The nominal total exhaust characteristic is obtained based on the preset air exhaust mass, air bladder valve air exhaust rate, maximum ambient air pressure data and the nominal pressure difference data of the bladder, wherein the maximum ambient air pressure data represents the standard atmospheric pressure of the airship at its maximum flight altitude; The nominal total inflation characteristic is obtained based on the preset air inflation mass, nominal operating atmospheric density, and the nominal fan flow rate data. The step of stopping the inflation / deflation process of the airship when the real-time characteristic value meets the preset condition includes: When it is determined that the airship is in the first airbag inflation control process, if the real-time characteristic value is equal to the preset total inflation characteristic amount, the first airbag inflation control process is stopped. When the airship is determined to be in the helium emission control process, if the real-time characteristic value is equal to the nominal helium emission characteristic amount, the helium emission control process is stopped. When the airship is determined to be in the airbag emission control process, if the real-time characteristic value is equal to the nominal total exhaust characteristic volume, the airbag emission control process is stopped. When the airship is determined to be in the second airbag inflation control process, if the real-time characteristic value is equal to the nominal total inflation characteristic, the second airbag inflation control process is stopped.

[0013] The present invention also provides a precision inflation and deflation control system for an airship, comprising: The sensor data acquisition module is used to acquire real-time sensor data based on the airship's inflation / deflation control type. The environmental function calculation module is used to calculate the environmental function value of the airship during the current inflation / deflation process based on the real-time sensor data and the preset sensor data. The real-time feature calculation module is used to calculate the real-time feature values ​​of the airship based on the environmental function value and the preset sampling period. The inflation / deflation control module is used to stop the inflation / deflation process of the airship when it is determined that the real-time characteristic value meets the preset conditions.

[0014] The application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the airship precise inflation and deflation control method according to any of the above when executing the program.

[0015] The application further provides a non-transitory computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the airship precise inflation and deflation control method according to any of the above.

[0016] The application provides an airship precise inflation and deflation control method, system, device and medium, which obtains real-time sensor data through inflation and deflation control types, and calculates an environmental function value of a current inflation and deflation process in combination with preset data; then, based on the environmental function value and a preset sampling period, a real-time characteristic value is calculated; finally, when the real-time characteristic value meets a preset condition, the inflation and deflation process of the airship is stopped, and accurate inflation and deflation control is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0018] Figure 1 The flowchart of the airship precise inflation and deflation control method provided by the present application; Figure 2 The structural diagram of the airship system provided by the present application; Figure 3 The structural diagram of the airship precise inflation and deflation control system provided by the present application; Figure 4 The structural diagram of the electronic device provided by the present application. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described clearly and completely in combination with the drawings in the present application. Obviously, the described embodiments are some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0020] During the various flight phases of an airship, the inflation / deflation capacity of the blower and valves is significantly affected by the airship's environment and its own pressure differential, resulting in substantial differences in the time required to inflate or deflate the same mass of gas under different operating conditions. Therefore, existing methods for controlling the inflation (deflation) volume according to preset times are insufficient for precise operation. While pre-calculating the blower (valve) shut-off time tables can improve accuracy, the diverse combinations of flight conditions can easily lead to insufficient accuracy or an excessive number of data points in the tables. To address the problems in existing technologies, this invention proposes a method for controlling the airship's blower and valves, achieving precise control of the set inflation / deflation mass, and employing algorithm design to ensure sufficient computational efficiency to meet the computing power constraints of the flight control computer.

[0021] Figure 1 This is a flowchart illustrating the precision inflation / deflation control method for airships provided by the present invention, as shown below. Figure 1 As shown, the present invention provides a method for precise inflation and deflation control of an airship, comprising: Step 101: Based on the airship's inflation / deflation control type, acquire real-time sensor data.

[0022] In this invention, the airbag inflation and deflation control types cover multiple stages of its flight process, including pre-inflation airbag control during the unformed ascent phase, helium discharge control, airbag inflation control during the formed level flight phase, and airbag deflation control during the formed level flight phase.

[0023] During these different control phases, the flight control computer on the airship platform collects data from various sensors in real time according to control requirements. These sensors include differential pressure sensors, pressure sensors, temperature sensors, and altitude sensors, which are used to measure key parameters such as airbag differential pressure, ambient air pressure, ambient temperature, and flight altitude, respectively.

[0024] Figure 2 The structural schematic diagram of the airship system provided by the present invention can be referred to. Figure 2 As shown, the airship system in this invention includes an airship body (including a helium bladder and an air bladder), a flight control computer (i.e., a computer) mounted on the airship platform, actuators such as fans, helium valves and valves, and sensors such as differential pressure, pressure, temperature and altitude. The control algorithm is implemented by the flight control computer mounted on the airship platform.

[0025] Step 102: Calculate the environmental function value corresponding to the airship during the current inflation / deflation process based on the real-time sensor data and the preset sensor data.

[0026] In this invention, the environmental function value is used to equate the inflation and deflation process under different environmental conditions to a virtual standard condition for control. Calculating the environmental function value requires comparing and calculating real-time sensor data (such as current ambient air pressure, temperature, and pressure difference within the bladder) with preset sensor data (such as standard atmospheric pressure and temperature).

[0027] In this invention, the specific form of the environmental function value depends on the current flight phase and control requirements of the airship. For example, in the control of the pre-inflated airbag during the non-formed ascent phase, the environmental function value may involve the air pressure and temperature values ​​at a preset level flight altitude.

[0028] Step 103: Based on the environmental function value and the preset sampling period, calculate the real-time characteristic value of the airship.

[0029] In this invention, the real-time characteristic value is a physical quantity used to directly control the fan and valves, converting the inflation / deflation mass into inflation / deflation time. Calculating the real-time characteristic value requires considering environmental function values ​​and a preset sampling period. Specifically, the real-time characteristic value in this invention is related to ambient air pressure, temperature, pressure difference within the gas chamber, and the sampling period, and is calculated using a specific algorithm formula. The real-time characteristic value reflects the time or control quantity required to achieve the set inflation / deflation mass under the current environmental conditions and sampling period.

[0030] Step 104: When it is determined that the real-time characteristic value meets the preset conditions, the inflation and deflation process of the airship is stopped.

[0031] In this invention, when the real-time characteristic value reaches or exceeds a preset threshold, it means that the airship has been filled or discharged with a set mass of gas. At this point, the flight control computer will issue a command to stop the operation of the fan or valve, thereby completing the filling and discharging process. This preset condition can be set according to the airship's flight requirements and safety requirements to ensure the accuracy and reliability of the filling and discharging process.

[0032] The present invention provides a precise air-shipping control method for airships, which acquires real-time sensor data through the air-shipping control type, and then calculates the environmental function value of the current air-shipping process by combining it with preset data; then, based on the environmental function value and the preset sampling period, the real-time characteristic value is calculated; finally, when the real-time characteristic value meets the preset conditions, the airship's air-shipping process is stopped to ensure precise control of air-shipping / venting.

[0033] Based on the above embodiments, the inflation / deflation control type includes a first airbag inflation control process, a helium emission control process, an airbag emission control process, and a second airbag inflation control process; Wherein, the first airbag inflation control process represents the airbag inflation control process of the airship during the non-forming ascent phase; the helium emission control process represents the helium emission control process of the airship during the non-forming ascent phase or the forming level flight phase; the airbag emission control process represents the airbag emission process of the airship during the forming level flight phase; and the second airbag inflation control process represents the airbag inflation process of the airship during the forming level flight phase.

[0034] In this invention, upon receiving a charge / discharge (specified mass gas) command, the ambient air pressure, ambient temperature, and pressure difference within the airship are first collected, and real-time characteristic quantities are calculated. For example, for a specific charge / discharge control type of the airship, the corresponding real-time characteristic quantity is... The calculation formula is as follows: ;Formula (1) In formula (1), The sampling period is For environment functions. When At that time, the computer issues a command to shut off the blower (valve). The set inflation (deflation) control amount, i.e., the preset conditions corresponding to the current inflation / deflation control type. These are the ambient air pressure, pressure difference within the capsule, and ambient temperature, collected in real time. These are the ambient air pressure, pressure difference in the capsule, and ambient temperature, which are pre-loaded into the computer under virtual working conditions.

[0035] In this invention, the environment function Its function is to equate the charging / discharging process under different environmental conditions to a virtual standard operating condition for control. When , , At that time, environment function The value is 1. For environmental functions under other operating conditions, they can be derived through the principle of conservation of gas mass during inflation and deflation.

[0036] In this invention, Represents environment functions The inflation (deflation) control amount when =1. According to the above formula (1). The physical meaning represented is the inflation (deflation) time required for the airship to inflate (or deflate) a set mass of gas under nominal operating conditions. Under non-standard operating conditions, the actual inflation / deflation time can be determined by an environmental function. The weighted transformation is converted into virtual charging / discharging time under virtual operating conditions. This time is compared with the set virtual total time to achieve charging / discharging control of a predetermined mass.

[0037] Furthermore, the inflation / deflation control type involved in the airship in this invention will be described. In this invention, the first airbag inflation control process is the airbag inflation operation during the non-forming ascent phase of the airship. At this time, the airship is in a zero-pressure state, and air needs to be injected into the airbag by a fan to establish internal pressure. At this time, it is necessary to calculate the corresponding environmental function value in real time based on the ambient air pressure, temperature, and airbag pressure difference to ensure accurate inflation air quality.

[0038] The helium emission control process refers to the helium emission operation of the airship during the non-formation ascent phase or the formation level flight phase. This invention adjusts buoyancy by controlling the opening time of the helium discharge valve to achieve flight phase transitions or altitude adjustments. The pressure difference at the helium discharge valve position must be considered when calculating environmental function values ​​to ensure accurate mass of discharged helium.

[0039] The airbag exhaust control process involves the airbag degassing operation during the formation and level flight phase of the airship to control flight altitude and achieve ascent. When calculating environmental function values, the valve exhaust rate and the standard atmospheric pressure at the design altitude must be considered to calculate the real-time exhaust characteristic quantity.

[0040] The second airbag inflation control process is the secondary inflation operation of the airbags during the formation and level flight phase of the airship. At this time, the airship has already formed its structure, and the inflation needs to take into account the impact of internal pressure on the blower's volumetric flow rate. The inflation time is adjusted according to the real-time environmental function to avoid over-inflation or under-inflation, thereby achieving altitude descent.

[0041] This invention achieves precise buoyancy control under computational constraints through dynamic environment adaptation and characteristic quantity calculation.

[0042] Based on the above embodiments, the acquisition of real-time sensor data based on the airship's inflation / deflation control type includes: When it is determined that the airship is in the first airbag inflation control process, the real-time sensor data is constructed based on the real-time data of the first ambient air pressure and the real-time data of the first ambient temperature of the airship. When it is determined that the airship is in the helium emission control process or the airbag emission control process, the real-time sensor data is constructed based on the real-time data of the current second ambient air pressure and the real-time data of the airbag pressure difference. Specifically, when the airship is in the helium emission control process, the real-time airbag pressure difference data represents the real-time pressure difference data of the helium airbag; when the airship is in the airbag emission control process, the real-time airbag pressure difference data represents the real-time pressure difference data of the airbag. When it is determined that the airship is in the second airbag inflation control process, the real-time sensor data is constructed based on the real-time data of the third ambient air pressure, the real-time data of the second ambient temperature, and the real-time data of the fan flow of the airship. Before calculating the environmental function value of the airship during the current inflation / deflation process based on the real-time sensor data and preset sensor data, the method further includes: Based on preset ambient air pressure data, preset ambient temperature data, nominal pressure difference data of the air bladder, and nominal fan flow rate data, the preset sensor data is constructed. When the airship is in the helium emission control process, the nominal pressure difference data of the air bladder represents the nominal pressure difference data of the helium air bladder; when the airship is in the air bladder emission control process, the nominal pressure difference data of the air bladder represents the nominal pressure difference data of the air bladder.

[0043] In this invention, when the airship is in the first airbag inflation control process (non-forming ascent stage), real-time data of the first ambient air pressure (such as external atmospheric pressure) and the first ambient temperature (such as the temperature around the airbag) are directly collected by sensors and fused into a real-time dataset. In a zero-pressure state, ambient air pressure and ambient temperature are key parameters for calculating the mass of air inflated into the airbag. For example, changes in ambient temperature affect air density, thus affecting the conversion relationship between the volume and mass of the inflated air.

[0044] When the airship is in the helium emission control process (non-forming ascent / forming level flight phase) or the airbag emission control process (forming level flight phase), real-time data of the second ambient air pressure and real-time data of the airbag differential pressure under the current operating conditions can be collected collaboratively by differential pressure sensors and air pressure sensors. In this invention, the differential pressure data directly reflects the structural strength of the airbag and the exhaust requirements. For example, during the forming level flight phase, the exhaust rate needs to be controlled by differential pressure to avoid excessive airbag contraction.

[0045] When the airship is in the second airbag inflation control process (forming the level flight stage), real-time data of the third ambient air pressure (such as atmospheric pressure corresponding to the flight altitude), real-time data of the second ambient temperature (such as the fan inlet temperature), and real-time data of the fan flow rate (such as the fan output volumetric flow rate) under the current operating conditions can be collected through multi-sensor linkage. In this invention, the airbag inflation control process in the forming level flight stage needs to consider the influence of fan performance on inflation efficiency, and the fan volumetric flow rate needs to be calculated through the fan flow-pressure characteristic curve.

[0046] Furthermore, in this invention, preset sensor data serves as the control reference. Specifically, preset ambient air pressure and ambient temperature data can be obtained based on the ambient air pressure and ambient temperature corresponding to the preset level flight altitude designed for the airship. The nominal pressure difference data of the airship body can be obtained from the nominal value within the safe allowable pressure difference range of the airship structure (at the location of the exhaust valve). The preset data provides a comparison reference for real-time data, and the equivalent conversion between actual and nominal operating conditions is achieved through environmental function calculations.

[0047] Based on the above embodiments, the step of calculating the environmental function value corresponding to the airship during the current inflation / deflation process according to the real-time sensor data and preset sensor data includes: When it is determined that the airship is in the first airbag inflation control process, the first air pressure ratio is obtained according to the ratio between the first real-time ambient air pressure data and the preset ambient air pressure data; The first temperature ratio is obtained based on the ratio between the preset ambient temperature data and the real-time ambient temperature data. The environmental function value corresponding to the current inflation / deflation process of the airship is obtained based on the product between the first pressure ratio and the first temperature ratio.

[0048] In this invention, for the pre-inflated airbag control of the non-shaped rising section (i.e., the first airbag inflation control process), the airbag is in a zero-pressure state during pre-inflatation. The first airbag inflation control process... Environment function value at time 1 The specific calculation formula is as follows: ;Formula (2) In formula (2), express Real-time ambient air pressure data at any given moment. This indicates the ambient air pressure data of the airship at the preset level flight altitude (i.e., preset ambient air pressure data). This indicates the ambient temperature data of the airship at the preset level flight altitude (i.e., the preset ambient temperature data). express Real-time ambient temperature data at any given moment.

[0049] During the first airbag inflation control process, based on the real-time sensor data collected in each sampling cycle, the corresponding environmental function value is calculated. Then, using the calculation formula for the real-time characteristic quantity of the airbag, the environmental function values ​​of each sampling cycle are summed to obtain the real-time characteristic value of the airbag. The specific calculation formula for the real-time characteristic quantity of the first airbag inflation control process is as follows: ;Formula (3) In formula (3), Indicates time Real-time feature quantities at time, Indicates the preset sampling period. Indicates time The corresponding environment function value, Indicates the initial time.

[0050] Based on the above embodiments, the preset conditions include preset total inflation characteristic, nominal helium emission characteristic, nominal total exhaust characteristic, and nominal total inflation characteristic, wherein: The preset total inflation characteristic is obtained based on the expected volume of the airbag of the airship and the zero-pressure volume flow rate of the blower.

[0051] Furthermore, in this invention, a preset total inflation characteristic amount is defined. It is calculated using the following formula: ;Formula (4) In formula (4), for Under operating conditions, the expected volume of the airbag; This refers to the zero-pressure volumetric flow rate of the fan. It should be noted that in this invention... , , These parameters, as pre-charge control elements, can be preset in the flight control computer.

[0052] In one embodiment, if the ambient temperature is not measured or the measurement is unreliable, the real-time data of the first ambient temperature in mid-latitude regions can be approximated using a standard atmospheric model: ;Formula (5) in, This indicates the current altitude of the airship.

[0053] Additionally, for safety reasons, when controlling the full inflation of the airbag, the environmental function can be simplified to: ;Formula (6) because The simplification essentially amplifies the weighting coefficients. Therefore, the actual inflation volume when the fan is off is slightly less than the set value, thus avoiding the risk of over-inflating the airbag.

[0054] The step of stopping the inflation / deflation process of the airship when the real-time characteristic value meets the preset condition includes: When it is determined that the airship is in the first airbag inflation control process, if the real-time characteristic value is equal to the preset total inflation characteristic amount, the first airbag inflation control process is stopped.

[0055] In this invention, when it is determined that the airship is in the first airbag inflation control process (that is, the airship inflation operation process of the airbag in the non-forming ascent stage), real-time characteristic values ​​are continuously calculated. These real-time characteristic values ​​are calculated based on various real-time data during the inflation process, and they reflect the actual progress of the current inflation.

[0056] The preset total inflation characteristic is calculated based on the expected volume of the airbag of the airship and the zero-pressure volume flow rate of the blower. It represents the characteristic standard corresponding to the airbag being inflated from zero pressure to the expected volume.

[0057] Once the real-time characteristic value calculated during the inflation process equals the preset total inflation characteristic, it means that the airbag has been inflated to the expected amount of air, achieving the predetermined inflation target. At this point, the system will issue a command to stop the first airbag inflation control process, that is, to turn off the blower and end the airbag inflation operation.

[0058] Based on the above embodiments, the step of calculating the environmental function value corresponding to the airship during the current inflation / deflation process according to the real-time sensor data and preset sensor data further includes: When it is determined that the airship is in the helium emission control process or the airbag emission control process, a second pressure ratio is obtained based on the ratio between the second real-time ambient pressure data and the preset ambient pressure data. The pressure difference ratio is obtained by comparing the real-time pressure difference data of the bladder with the nominal pressure difference data of the bladder. The product square root of the second pressure ratio and the pressure difference ratio is performed to obtain the environmental function value corresponding to the current inflation / deflation process of the airship.

[0059] In this invention, when the airship is in the helium emission control process, helium overheating can be ignored. The helium emission control process, or the airbag emission control process, is... Environment function value at time 1 The specific calculation formula is as follows: ;Formula (7) In formula (7), express Real-time data of the second ambient air pressure at any given moment. This indicates the ambient air pressure data of the airship at the preset level flight altitude (i.e., preset ambient air pressure data). express The measured value of the differential pressure sensor at the position of the helium release valve or the position of the exhaust valve at any given time (i.e., real-time data of the differential pressure in the bladder). This indicates the nominal value of the differential pressure sensor at the location of the helium release valve or the exhaust valve (i.e., the nominal data of the differential pressure in the capsule).

[0060] In the helium emission control process or the airbag emission control process, based on the real-time sensor data collected in each sampling cycle, the corresponding environmental function value is calculated. Then, using the calculation formula for the real-time characteristic quantity of the airship, the environmental function values ​​of each sampling cycle are summed to obtain the real-time characteristic value of the airship. The specific calculation formula for the real-time characteristic quantity of the helium emission control process or the airbag emission control process is as follows: ;Formula (8) The explanation of each parameter in formula (8) can be found in the relevant content of formula (3), and will not be repeated here.

[0061] Based on the above embodiments, the nominal helium emission characteristic quantity is obtained based on the preset helium emission mass, the helium emission rate of the airbag valve, the preset ambient pressure data, and the nominal pressure difference data of the airbag.

[0062] Furthermore, in this invention, the nominal helium emission characteristic amount It is calculated using the following formula: ;Formula (9) In formula (9), The preset helium discharge mass is calculated from the set buoyancy discharge amount. The helium discharge rate of the airbag valve is calculated from the valve parameters and helium parameters. It should be noted that the ambient pressure is preset. Nominal data of cyst pressure difference Nominal helium emission characteristics It can be used as pre-charge control parameters and pre-loaded into the flight control computer. In order to reduce the amount of parameter loading, the present invention uses a unified nominal (virtual) operating condition for inflation and deflation control.

[0063] Based on the above embodiments, the nominal total exhaust characteristic quantity is obtained based on the preset air exhaust mass, air bag valve air exhaust rate, maximum ambient air pressure data and the nominal pressure difference data of the bag body, wherein the maximum ambient air pressure data represents the standard atmospheric pressure of the airship at its maximum flight altitude.

[0064] Furthermore, in this invention, the nominal total exhaust characteristic volume The calculation formula is obtained through the following formula: ;Formula (10) In formula (10), This is the preset air exhaust mass. The air discharge rate of the airbag valve is calculated using valve parameters and air parameters. The standard atmospheric pressure at the maximum flight altitude is used to design the maximum ambient pressure data. This refers to the nominal data for the pressure difference within the cyst.

[0065] Based on the above embodiments, when it is determined that the airship is in the helium emission control process, if the real-time characteristic value is equal to the nominal helium emission characteristic amount, the helium emission control process is stopped.

[0066] In this invention, when it is confirmed that the airship is in the helium emission control process (i.e., the operation of releasing helium from the bladder by controlling valves during the non-forming ascent phase or the forming level flight phase), real-time characteristic values ​​are continuously monitored and calculated. These real-time characteristic values ​​are dynamically calculated from the helium emission data (such as emission rate, pressure difference, time, etc.) collected by the sensors in real time, reflecting the actual progress of the current helium emission.

[0067] The nominal helium emission characteristic is calculated based on the preset helium emission mass, valve helium emission rate, preset ambient pressure data, and nominal pressure difference data of the airship. It represents the characteristic standard required to achieve the target helium emission volume under standard operating conditions. If the real-time characteristic value is equal to the nominal helium emission characteristic, it means that the helium emission volume has reached the preset target (i.e., the designed helium mass has been emitted). At this time, the system will immediately stop the helium emission control process, close the helium valve, and prevent excessive emission from causing airship pressure imbalance or buoyancy loss. This ensures the accuracy of helium emission and avoids insufficient or excessive emission due to environmental changes (such as pressure fluctuations) or sensor errors, thereby ensuring the safety and stability of the airship in all flight phases.

[0068] Based on the above embodiments, when it is determined that the airship is in the airbag emission control process, if the real-time characteristic value is equal to the nominal total exhaust characteristic volume, the airbag emission control process is stopped.

[0069] In this invention, during the airbag emission control process, real-time characteristic values ​​are continuously compared with the nominal total exhaust characteristic volume. If they are equal, it indicates that the preset amount of air has been discharged, and the airbag pressure and flight altitude have reached the target state. At this point, the exhaust valve is immediately closed to terminate the emission process, preventing excessive exhaust from causing airbag collapse or insufficient buoyancy, and avoiding exhaust errors caused by environmental changes (such as air pressure fluctuations).

[0070] Based on the above embodiments, the step of calculating the environmental function value corresponding to the airship during the current inflation / deflation process according to the real-time sensor data and preset sensor data further includes: When it is determined that the airship is in the second airbag inflation control process, the third air pressure ratio is obtained according to the ratio between the real-time data of the third ambient air pressure and the preset data of the ambient air pressure. The fan flow ratio is obtained by comparing the real-time fan flow data with the nominal fan flow data. The second temperature ratio is obtained based on the ratio between the second real-time ambient temperature data and the preset ambient temperature data; Calculate the product between the third air pressure ratio and the fan flow ratio, and based on the ratio between the product and the second temperature ratio, obtain the environmental function value corresponding to the airship during the current inflation / deflation process.

[0071] In this invention, when the airship is in the second airbag inflation control process, i.e., the airbag inflation control process during the level flight formation phase, the internal pressure of the airship has a significant impact on the fan volumetric flow rate, so it is necessary to combine the fan flow rate with the environmental function value. The calculation of the second airbag inflation control process. Environment function value at time 1 The specific calculation formula is as follows: ;Formula (11) ;Formula (12) In formulas (11) and (12), This represents real-time atmospheric pressure data for the third environment. This indicates the ambient air pressure data of the airship at the preset level flight altitude (i.e., preset ambient air pressure data). express The ratio between the real-time third ambient pressure data and the preset ambient pressure data at any given time is called the third pressure ratio. This refers to the nominal volumetric flow rate of the fan under real-time operating conditions, i.e., the real-time flow rate data of the fan. The nominal volumetric flow rate of the fan under virtual operating conditions is the nominal flow rate data of the fan, which can be calculated from the fan flow-pressure characteristic curve. express The ratio between the real-time data of the fan flow rate and the nominal data of the fan flow rate at any given moment, i.e., the fan flow rate ratio. This indicates the ambient temperature data of the airship at the preset level flight altitude (i.e., the preset ambient temperature data). express Real-time data of the second ambient temperature at any given moment. express The ratio between the real-time ambient temperature data and the preset ambient temperature data at a given time, i.e., the second temperature ratio.

[0072] During the inflation control process of the second airbag, based on the real-time sensor data collected in each sampling cycle, the corresponding environmental function value is calculated. Then, using the calculation formula for the real-time characteristic quantity of the airbag, the environmental function values ​​of each sampling cycle are summed to obtain the real-time characteristic value of the airbag. The specific calculation formula for the real-time characteristic quantity of the second airbag inflation control process is as follows: ;Formula (13) The explanation of each parameter in formula (13) can be found in the relevant content of formula (3), and will not be repeated here.

[0073] Based on the above embodiments, the nominal total inflation characteristic quantity is obtained based on the preset air inflation mass, nominal operating atmospheric density, and the nominal fan flow rate data.

[0074] Furthermore, in this invention, the nominal total inflation characteristic is... It is calculated using the following formula: ;Formula (14) In formula (14), To preset the air filling mass, This refers to the atmospheric density under nominal operating conditions.

[0075] In one embodiment, if the atmospheric temperature is not measured or is inaccurate, and assuming the forming height is already in the stratosphere, the second airbag inflation control process is... Environment function value at time 1 It can be simplified to: ;Formula (15) Based on the above embodiments, when it is determined that the airship is in the second airbag inflation control process, if the real-time characteristic value is equal to the nominal total inflation characteristic, the second airbag inflation control process is stopped.

[0076] In this invention, when the airship is confirmed to be in the formation and level flight stage, air needs to be injected into the airbag to adjust the airbag pressure or flight altitude. At this time, the second airbag inflation control process begins. Precise control of the inflation amount is required during this stage to avoid over-inflation of the airbag, which could lead to structural damage or flight attitude imbalance.

[0077] The real-time characteristic values ​​of the second airbag inflation control process are dynamically calculated from inflation data (such as fan flow rate, airbag pressure, time, etc.) collected in real time by sensors, reflecting the current inflation progress. Among them, the nominal total inflation characteristic value is calculated based on the preset air injection mass, nominal operating atmospheric density, and nominal fan flow rate data.

[0078] In this invention, the real-time characteristic value is continuously compared with the nominal total inflation characteristic value. If the two are equal, it indicates that the preset amount of air has been filled, and the pressure and flight altitude of the capsule have reached the target state. At this point, the blower is immediately turned off to terminate the inflation process and prevent overpressure from causing the capsule to rupture or loss of buoyancy.

[0079] This invention replaces traditional time control with quantified characteristic values, avoiding inflation errors caused by environmental changes (such as temperature and air pressure fluctuations), preventing the capsule from rupturing due to over-inflation, or preventing flight altitude from being lost due to under-inflation.

[0080] The precision air-ship inflation / deflation control system provided by the present invention is described below. The precision air-ship inflation / deflation control system described below can be referred to in correspondence with the precision air-ship inflation / deflation control method described above.

[0081] Figure 3 A schematic diagram of the structure of the precision inflation and deflation control system for the airship provided by the present invention is shown below. Figure 3 As shown, the present invention provides a precision inflation / deflation control system for an airship, including a sensor data acquisition module 301, an environmental function calculation module 302, a real-time feature calculation module 303, and an inflation / deflation control module 304. The sensor data acquisition module 301 acquires real-time sensor data based on the airship's inflation / deflation control type. The environmental function calculation module 302 calculates the environmental function value corresponding to the airship during the current inflation / deflation process based on the real-time sensor data and preset sensor data. The real-time feature calculation module 303 calculates the real-time feature value of the airship based on the environmental function value and a preset sampling period. The inflation / deflation control module 304 stops the airship's inflation / deflation process when the real-time feature value meets a preset condition.

[0082] The airship precision inflation / deflation control system provided by this invention acquires real-time sensor data through inflation / deflation control type, and then calculates the environmental function value of the current inflation / deflation process by combining it with preset data; then, based on the environmental function value and preset sampling period, it calculates the real-time characteristic value; finally, when the real-time characteristic value meets the preset condition, it stops the inflation / deflation process of the airship, ensuring precise inflation / deflation control.

[0083] The system provided in this embodiment of the invention is used to execute the above-described method embodiments. For specific processes and details, please refer to the above embodiments, which will not be repeated here.

[0084] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention, such as... Figure 4As shown, the electronic device may include: a processor 401, a communication interface 402, a memory 403, and a communication bus 404. The processor 401, communication interface 402, and memory 403 communicate with each other via the communication bus 404. The processor 401 can call logical instructions in the memory 403 to execute a precise inflation / deflation control method for the airship. This method includes: acquiring real-time sensor data based on the airship's inflation / deflation control type; calculating the environmental function value corresponding to the airship during the current inflation / deflation process based on the real-time sensor data and preset sensor data; calculating the real-time characteristic value of the airship based on the environmental function value and a preset sampling period; and stopping the airship's inflation / deflation process when the real-time characteristic value meets a preset condition.

[0085] Furthermore, the logical instructions in the aforementioned memory 403 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0086] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, wherein when the program instructions are executed by a computer, the computer is able to execute the airship precision inflation / deflation control method provided by the above methods, the method comprising: acquiring real-time sensor data based on the airship inflation / deflation control type; calculating an environmental function value corresponding to the airship in the current inflation / deflation process based on the real-time sensor data and preset sensor data; calculating a real-time characteristic value of the airship based on the environmental function value and a preset sampling period; and stopping the airship inflation / deflation process when it is determined that the real-time characteristic value meets a preset condition.

[0087] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the precise inflation / deflation control method for an airship provided in the above embodiments. The method includes: acquiring real-time sensor data based on the inflation / deflation control type of the airship; calculating an environmental function value corresponding to the airship during the current inflation / deflation process based on the real-time sensor data and preset sensor data; calculating a real-time characteristic value of the airship based on the environmental function value and a preset sampling period; and stopping the inflation / deflation process of the airship when the real-time characteristic value meets a preset condition.

[0088] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0089] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for precise inflation and deflation control of an airship, characterized in that, include: Based on the airship's inflation / deflation control type, real-time sensor data is acquired; Based on the real-time sensor data and the preset sensor data, the environmental function value corresponding to the airship during the current inflation and deflation process is calculated. Based on the environmental function value and the preset sampling period, the real-time characteristic value of the airship is calculated; When the real-time characteristic value is determined to meet the preset conditions, the inflation and deflation process of the airship is stopped.

2. The precise inflation / deflation control method for airships according to claim 1, characterized in that, The inflation / deflation control type includes a first airbag inflation control process, a helium emission control process, an airbag emission control process, and a second airbag inflation control process. Wherein, the first airbag inflation control process represents the airbag inflation control process of the airship during the non-forming ascent phase; the helium emission control process represents the helium emission control process of the airship during the non-forming ascent phase or the forming level flight phase; the airbag emission control process represents the airbag emission process of the airship during the forming level flight phase; and the second airbag inflation control process represents the airbag inflation process of the airship during the forming level flight phase.

3. The precise inflation / deflation control method for an airship according to claim 2, characterized in that, The airship-based inflation / deflation control type acquires real-time sensor data, including: When it is determined that the airship is in the first airbag inflation control process, the real-time sensor data is constructed based on the real-time data of the first ambient air pressure and the real-time data of the first ambient temperature of the airship. When it is determined that the airship is in the helium emission control process or the airbag emission control process, the real-time sensor data is constructed based on the real-time data of the current second ambient air pressure and the real-time data of the airbag pressure difference. Specifically, when the airship is in the helium emission control process, the real-time airbag pressure difference data represents the real-time pressure difference data of the helium airbag; when the airship is in the airbag emission control process, the real-time airbag pressure difference data represents the real-time pressure difference data of the airbag. When it is determined that the airship is in the second airbag inflation control process, the real-time sensor data is constructed based on the real-time data of the third ambient air pressure, the real-time data of the second ambient temperature, and the real-time data of the fan flow of the airship. Before calculating the environmental function value of the airship during the current inflation / deflation process based on the real-time sensor data and preset sensor data, the method further includes: Based on preset ambient air pressure data, preset ambient temperature data, nominal pressure difference data of the air bladder, and nominal fan flow rate data, the preset sensor data is constructed. When the airship is in the helium emission control process, the nominal pressure difference data of the air bladder represents the nominal pressure difference data of the helium air bladder; when the airship is in the air bladder emission control process, the nominal pressure difference data of the air bladder represents the nominal pressure difference data of the air bladder.

4. The precise inflation and deflation control method for airships according to claim 3, characterized in that, The step of calculating the environmental function value of the airship during the current inflation / deflation process based on the real-time sensor data and preset sensor data includes: When it is determined that the airship is in the first airbag inflation control process, the first air pressure ratio is obtained according to the ratio between the first real-time ambient air pressure data and the preset ambient air pressure data; The first temperature ratio is obtained based on the ratio between the preset ambient temperature data and the real-time ambient temperature data. The environmental function value corresponding to the current inflation / deflation process of the airship is obtained based on the product between the first pressure ratio and the first temperature ratio.

5. The precise inflation / deflation control method for an airship according to claim 3, characterized in that, The step of calculating the environmental function value of the airship during the current inflation / deflation process based on the real-time sensor data and preset sensor data further includes: When it is determined that the airship is in the helium emission control process or the airbag emission control process, a second pressure ratio is obtained based on the ratio between the second real-time ambient pressure data and the preset ambient pressure data. The pressure difference ratio is obtained by comparing the real-time pressure difference data of the bladder with the nominal pressure difference data of the bladder. The product square root of the second pressure ratio and the pressure difference ratio is performed to obtain the environmental function value corresponding to the current inflation / deflation process of the airship.

6. The precise inflation / deflation control method for an airship according to claim 3, characterized in that, The step of calculating the environmental function value of the airship during the current inflation / deflation process based on the real-time sensor data and preset sensor data further includes: When it is determined that the airship is in the second airbag inflation control process, the third air pressure ratio is obtained according to the ratio between the real-time data of the third ambient air pressure and the preset data of the ambient air pressure. The fan flow ratio is obtained by comparing the real-time fan flow data with the nominal fan flow data. The second temperature ratio is obtained based on the ratio between the second real-time ambient temperature data and the preset ambient temperature data; Calculate the product between the third air pressure ratio and the fan flow ratio, and based on the ratio between the product and the second temperature ratio, obtain the environmental function value corresponding to the airship during the current inflation / deflation process.

7. The precise inflation / deflation control method for an airship according to claim 3, characterized in that, The preset conditions include preset total inflation characteristic, nominal helium emission characteristic, nominal total exhaust characteristic, and nominal total inflation characteristic, wherein: The preset total inflation characteristic is obtained based on the expected volume of the air bladder of the airship and the zero-pressure volume flow rate of the blower. The nominal helium emission characteristic quantity is obtained based on the preset helium emission mass, the helium emission rate of the airbag valve, the preset ambient pressure data, and the nominal pressure difference data of the airbag body. The nominal total exhaust characteristic is obtained based on the preset air exhaust mass, air bladder valve air exhaust rate, maximum ambient air pressure data and the nominal pressure difference data of the bladder, wherein the maximum ambient air pressure data represents the standard atmospheric pressure of the airship at its maximum flight altitude; The nominal total inflation characteristic is obtained based on the preset air inflation mass, nominal operating atmospheric density, and the nominal fan flow rate data. The step of stopping the inflation / deflation process of the airship when the real-time characteristic value meets the preset condition includes: When it is determined that the airship is in the first airbag inflation control process, if the real-time characteristic value is equal to the preset total inflation characteristic amount, the first airbag inflation control process is stopped. When the airship is determined to be in the helium emission control process, if the real-time characteristic value is equal to the nominal helium emission characteristic amount, the helium emission control process is stopped. When the airship is determined to be in the airbag emission control process, if the real-time characteristic value is equal to the nominal total exhaust characteristic volume, the airbag emission control process is stopped. When the airship is determined to be in the second airbag inflation control process, if the real-time characteristic value is equal to the nominal total inflation characteristic, the second airbag inflation control process is stopped.

8. A precision inflation / deflation control system for an airship, characterized in that, include: The sensor data acquisition module is used to acquire real-time sensor data based on the airship's inflation / deflation control type. The environmental function calculation module is used to calculate the environmental function value of the airship during the current inflation / deflation process based on the real-time sensor data and the preset sensor data. The real-time feature calculation module is used to calculate the real-time feature values ​​of the airship based on the environmental function value and the preset sampling period. The inflation / deflation control module is used to stop the inflation / deflation process of the airship when it is determined that the real-time characteristic value meets the preset conditions.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the airship precision inflation / deflation control method as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the airship precision inflation and deflation control method as described in any one of claims 1 to 7.

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