CN109141429B - Method for designing flight path of near space ball-borne solar unmanned aerial vehicle in throwing process - Google Patents
Method for designing flight path of near space ball-borne solar unmanned aerial vehicle in throwing process Download PDFInfo
- Publication number
- CN109141429B CN109141429B CN201811024597.8A CN201811024597A CN109141429B CN 109141429 B CN109141429 B CN 109141429B CN 201811024597 A CN201811024597 A CN 201811024597A CN 109141429 B CN109141429 B CN 109141429B
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- vehicle body
- flight
- pulling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 112
- 230000008569 process Effects 0.000 title claims abstract description 62
- 238000013178 mathematical model Methods 0.000 claims abstract description 10
- 238000005457 optimization Methods 0.000 claims description 12
- 230000001133 acceleration Effects 0.000 claims description 7
- 230000009191 jumping Effects 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 238000012942 design verification Methods 0.000 claims description 3
- 239000006185 dispersion Substances 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- PMGQWSIVQFOFOQ-YKVZVUFRSA-N clemastine fumarate Chemical compound OC(=O)\C=C\C(O)=O.CN1CCC[C@@H]1CCO[C@@](C)(C=1C=CC(Cl)=CC=1)C1=CC=CC=C1 PMGQWSIVQFOFOQ-YKVZVUFRSA-N 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 10
- 230000007704 transition Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model provides a near space ball carries solar energy unmanned aerial vehicle and puts in process track design method, includes: step A: carrying out mathematical description on the risk factor requirements and the flight state to be met of the unmanned aerial vehicle body in the pulling-up process and establishing a mathematical model; and B: selecting a constraint condition and a target function; and C: and optimizing the objective function by adopting a control variable parameterization method to obtain a real-time pitching rudder deflection angle of the unmanned aerial vehicle body in the pulling-up process. The method for designing the flight path of the near space spherical solar unmanned aerial vehicle in the launching process can enable the longitudinal allowable overload of the unmanned aerial vehicle body to be maintained within an allowable range in the launching process; and the flying angle of attack that makes unmanned aerial vehicle organism is in the within range of allowwing in putting the pulling-up in-process, satisfies simultaneously that the process time of puting in is short, reduces as far as possible and puts in the risk.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle technical field especially relates to a near space ball carries solar energy unmanned aerial vehicle and puts in process track design method.
Background
The near space solar unmanned aerial vehicle has the characteristic of long cruising time, can fly day and night and even around, has high flying height, and has wide development prospect along with the continuous progress of the energy storage battery technology. At present, a mode that a solar unmanned aerial vehicle enters a near space mainly depends on a runway to climb autonomously, the unmanned aerial vehicle climbs to a preset cruising height by a power device of the unmanned aerial vehicle, and the mode has higher requirement on the performance of a motor of the unmanned aerial vehicle; in addition, the unmanned aerial vehicle needs to consider the influence of the climbing process when designing.
In view of this, design a new solar energy unmanned aerial vehicle and get into and close on space mode, this mode combines solar energy unmanned aerial vehicle and high altitude balloon for the first time, utilize high altitude aerostatics platform to carry solar energy unmanned aerial vehicle to appointed height and put in order to get into and close on the space again, this mode only needs consider the state demand of cruising when carrying out the independent system design, unmanned aerial vehicle pneumatic design uses the flight altitude of cruising as the design point simultaneously, higher cruising performance has, reduce organism weight itself, increase load-carrying capacity.
However, in the process of implementing the present disclosure, the inventor of the present application finds that a close space ball-carried launch mode provides a high requirement for flight tracks, and on one hand, the solar unmanned aerial vehicle has a large size, a light weight, a large flexibility, and a small longitudinal allowable overload; on the other hand, the attack angle of the unmanned aerial vehicle is within an allowed range in the launching and pulling processes, meanwhile, the flight path design needs to meet the requirement that the launching process time is short, and risks are reduced as far as possible, so that the existing flight paths cannot meet the requirement.
BRIEF SUMMARY OF THE PRESENT DISCLOSURE
Technical problem to be solved
Based on the technical problem, the present disclosure provides a method for designing a flight path of a near space ball-borne solar unmanned aerial vehicle in a throwing process, so as to solve the technical problem that the flight path in the prior art cannot meet longitudinal overload and throwing time.
(II) technical scheme
The utility model provides a near space ball carries solar energy unmanned aerial vehicle and puts in process track design method, this ball carries solar energy unmanned aerial vehicle includes: an unmanned aerial vehicle body; the high-altitude balloon is connected with the unmanned aerial vehicle body through a rope; the cutter is used for cutting off a rope between the unmanned aerial vehicle body and the high-altitude balloon; the method for designing the flight path of the near space spherical solar unmanned aerial vehicle in the throwing process is used for optimizing the flight path of the unmanned aerial vehicle body in the pulling process after the cutter cuts off the rope, and comprises the following steps:
step A: carrying out mathematical description on the risk factor requirements and the flight state to be met of the unmanned aerial vehicle body in the pulling-up process and establishing a mathematical model;
and B: selecting a constraint condition and a target function;
and C: and optimizing the objective function by adopting a control variable parameterization method to obtain a real-time pitching rudder deflection angle of the unmanned aerial vehicle body in the pulling-up process.
In some embodiments of the present disclosure, in the step a, the risk factor requirement includes: enabling the longitudinal overload of the unmanned aerial vehicle body to be smaller than the maximum overload allowed by the structural strength of the unmanned aerial vehicle body in the throwing and pulling processes; and on the premise of meeting overload requirements, the time for converting the unmanned aerial vehicle body from a vertical state to a horizontal flight state is reduced.
In some embodiments of the present disclosure, the maximum overload allowed by the structural strength of the drone body is determined by design verification or ground static strength testing.
In some embodiments of the present disclosure, reducing the time for the unmanned aerial vehicle body to transition from the vertical state to the horizontal flight state is achieved by reducing the turning radius r for the unmanned aerial vehicle body to transition from the vertical state to the horizontal flight state;
the turning radius r satisfies the following equation:
r≥rmin
wherein r isminFor the minimum turning radius that the unmanned aerial vehicle organism changed into the horizontal flight state from vertical state, m does the quality of unmanned aerial vehicle organism, V0For the real-time speed of unmanned aerial vehicle organism in the turn in-process.
In some embodiments of the present disclosure, in step a, the flight state that the unmanned aerial vehicle body should satisfy includes: the flight incidence angle of the unmanned aerial vehicle body in the pulling-up process is in an allowable range; the pitching rudder deflection angle of the unmanned aerial vehicle body is within the maximum travel range in the pulling process; and the change of the attitude angle, the angular rate, the acceleration and the position of the unmanned aerial vehicle body is in a reasonable range.
In some embodiments of the disclosure, wherein:
the allowable range of the flight attack angle is determined by CFD calculation or wind tunnel test according to the aerodynamic shape of the unmanned aerial vehicle body, namely alphamin≤α≤αmax(ii) a Wherein,
is the variation of the downward pitching moment of the deflection angle variation of the pitching rudder,
the variation of the downward pitching moment of the unit flight incidence variation is adopted; the attitude angle includes a roll angle, the roll angle being between ± 20 °; said angular rate is between ± 20 °/s; the acceleration is less than 25m/s2(ii) a The position variation is less than 200 m.
In some embodiments of the present disclosure, in the step B: the constraint conditions include: control variables, state variables and control constraints; wherein the control variables, the state variables and the control constraints are determined by the mathematical model, fuselage structural strength and aerodynamic shape of the drone airframe; the objective function is determined based on the control variables, the state variables, and the control constraints.
In some embodiments of the present disclosure, in the step C, the optimization method used for the optimization by using the control variable parameterization method is a multi-objective comprehensive optimization method.
In some embodiments of the present disclosure, the step C comprises: step C1: converting the target function into a standard form; step C2: respectively dividing the time and the rudder deflection control quantity into n adjacent subintervals; step C3: in each time subinterval, a segmented constant value is adopted to control the system, and the control variable after time dispersion is substituted into the objective function to obtain an optimal objective function; step C4: and solving by adopting a sequential quadratic optimization method to obtain the optimal solution of the optimal objective function.
In some embodiments of the present disclosure, the step C4 includes: step C4 a: calculating gradient information of the optimal objective function about a control quantity parameter; step C4 b: checking whether the performance is optimal, if so, ending iteration, otherwise, jumping to the step C4C; step C4C: and (4) calculating the search direction and the optimal step length by adopting a quasi-Newton method, obtaining a new control function, calculating the gradient of the target function again, and jumping to the step C4 b.
(III) advantageous effects
According to the technical scheme, the method for designing the flight path of the near space spherical solar unmanned aerial vehicle in the throwing process has the following beneficial effects:
the method for designing the flight path of the near space spherical solar unmanned aerial vehicle in the launching process can enable the longitudinal allowable overload of the unmanned aerial vehicle body to be maintained within an allowable range in the launching process; and the flying angle of attack that makes unmanned aerial vehicle organism is in the within range of allowwing in putting the pulling-up in-process, satisfies simultaneously that the process time of puting in is short, reduces as far as possible and puts in the risk.
Drawings
Fig. 1 is a schematic structural diagram of a near space solar unmanned aerial vehicle mounted on a sphere provided by an embodiment of the present disclosure.
Fig. 2 is a schematic flow chart of a flight path design method for a launching process of a near space sphere-borne solar unmanned aerial vehicle according to an embodiment of the disclosure.
Detailed Description
According to the method for designing the flight path of the launching process of the near space spherical solar unmanned aerial vehicle, a mathematical model is established and optimized in the launching and pulling processes of the spherical solar unmanned aerial vehicle, so that the longitudinal allowable overload of the unmanned aerial vehicle body can be maintained within an allowable range in the launching process; and the flying angle of attack that makes unmanned aerial vehicle organism is in the within range of allowwing in putting the pulling-up in-process, satisfies simultaneously that the process time of puting in is short, reduces as far as possible and puts in the risk.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
The utility model provides a near space ball carries solar energy unmanned aerial vehicle and puts in process track design method, as shown in figure 1, this ball carries solar energy unmanned aerial vehicle includes: an unmanned aerial vehicle body; the high-altitude balloon is connected with the unmanned aerial vehicle body through a rope; and the cutter is used for cutting off the rope between the unmanned aerial vehicle body and the high-altitude balloon.
In some embodiments of the present disclosure, as shown in fig. 2, the method for designing a trajectory of a launching process of a near space solar unmanned aerial vehicle is used for optimizing a trajectory of a robot body in a pulling process after a cutter cuts a rope, and includes: step A: the method comprises the steps of mathematically describing risk factor requirements and flight states to be met of an unmanned aerial vehicle body in the pulling-up process and establishing a mathematical model; and B: selecting a constraint condition and a target function; and C: the target function is optimized by adopting a control variable parameterization method to obtain a real-time pitching rudder deflection angle of the unmanned aerial vehicle body in the pulling-up process, and the method for designing the flight path of the near-space spherical solar unmanned aerial vehicle in the launching process can maintain the longitudinal allowable overload of the spherical solar unmanned aerial vehicle in an allowable range in the launching process; and the flight incidence angle of the unmanned aerial vehicle is in an allowable range in the launching and pulling process, meanwhile, the launching process time is short, and the launching risk is reduced as far as possible.
In some embodiments of the present disclosure, in step a, the risk factor requirement comprises: in the throwing and pulling processes, the longitudinal overload of the unmanned aerial vehicle body is smaller than the maximum overload allowed by the structural strength of the unmanned aerial vehicle body; and on the premise of meeting overload requirements, the time for converting the vertical state of the unmanned aerial vehicle body into the horizontal flight state is reduced.
In some embodiments of the present disclosure, the risk factor requirement of the unmanned aerial vehicle body in the pulling-up process and the flight state that should be satisfied are mathematically described, a mathematical model is established, that is, the risk factor requirement and the limitation condition range that should be satisfied in the flight state are quantified, and a corresponding value or value range is selected, as follows:
in some embodiments of the present disclosure, the maximum overload allowed by the structural strength of the drone body is determined by design verification or ground static strength tests, and for solar drones, the overload can be limited to below 2.5g, where g is the acceleration of gravity, about 25m/s2。
In some embodiments of the present disclosure, reducing the time for the unmanned aerial vehicle body to transition from the vertical state to the horizontal flight state is achieved by reducing the turning radius r for the unmanned aerial vehicle body to transition from the vertical state to the horizontal flight state;
That is, the turning radius r satisfies the following equation: r is not less than rminWherein:
wherein r isminFor the minimum turning radius that the unmanned aerial vehicle organism changed into the horizontal flight state from vertical state, m does the quality of unmanned aerial vehicle organism, V0According to V, the real-time speed of the unmanned aerial vehicle body in the turning process0Different values of (a), r obtainedminThe value is also changed so that r is greater than or equal to max [ r ]min]。
In some embodiments of the present disclosure, in step a, the flight state that the unmanned aerial vehicle body should satisfy includes: the flight attack angle of the unmanned aerial vehicle body in the pulling-up process is in an allowable range, and for the solar unmanned aerial vehicle, the allowable range of the flight attack angle can be (-5 degrees, 15 degrees); the pitching rudder deflection angle of the unmanned aerial vehicle body is within the maximum travel range in the pulling process; and the change of the attitude angle, the angular rate, the acceleration and the position of the unmanned aerial vehicle body is in a reasonable range.
In some embodiments of the present disclosure, the allowable range of the flight angle of attack is determined by CFD calculation or wind tunnel test, i.e. α, according to the aerodynamic shape of the drone bodymin≤α≤αmax(ii) a Wherein,
is the variation of the downward pitching moment of the deflection angle variation of the pitching rudder,
is the variation of the pitch moment under the change of the attack angle of the unit flight.
In some embodiments of the present disclosure, the attitude angle includes a roll angle, the roll angle being between ± 20 °; angular rate between ± 20 °/s; acceleration of less than 25m/s2(ii) a The position variation is less than 200 m.
In some embodiments of the disclosure, in step B: the constraint conditions include: control variables, state variables and control constraints; the control variables (such as rudder deflection values), the state variables (such as flight speed, flight attack angle and the like) and the control constraints (such as maximum elevator rudder deflection values, rudder deflection output angle rates and the like) can be determined through a mathematical model of an unmanned aerial vehicle body, the structural strength of the body and the aerodynamic shape; the objective function is determined from the control variables, the state variables and the control constraints.
In some embodiments of the present disclosure, in the step C, the optimization method used for the optimization by using the control variable parameterization method is a multi-objective comprehensive optimization method.
In some embodiments of the disclosure, step C comprises: step C1: converting the target function into a standard form; step C2: respectively dividing the time and the rudder deflection control quantity into n adjacent subintervals; step C3: in each time subinterval, a segmented constant value is adopted to control the system, and the control variable after time dispersion is substituted into the objective function to obtain an optimal objective function; step C4: and solving by adopting a sequential quadratic optimization method to obtain the optimal solution of the optimal objective function.
In some embodiments of the present disclosure, step C4 includes: step C4 a: calculating gradient information of the optimal objective function about a control quantity parameter; step C4 b: checking whether the performance is optimal, if so, ending iteration, otherwise, jumping to the step C4C; step C4C: and (4) calculating the search direction and the optimal step length by adopting a quasi-Newton method, obtaining a new control function, calculating the gradient of the target function again, and jumping to the step C4 b.
From the above description, those skilled in the art should clearly recognize that the method for designing the flight path of the launching process of the near space solar unmanned aerial vehicle provided by the embodiment of the present disclosure.
To sum up, the method for designing the flight path of the near space spherical solar unmanned aerial vehicle in the launching process is used for establishing a mathematical model and optimizing the launching and pulling processes of the spherical solar unmanned aerial vehicle, so that the optimal flight path of the unmanned aerial vehicle body in the pulling process is obtained, and the conversion from the vertical zero initial speed state to the horizontal cruising flight state of the solar unmanned aerial vehicle is completed.
It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.
And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (6)
1. A method for designing flight paths in the throwing process of a near space spherical solar unmanned aerial vehicle comprises the following steps:
an unmanned aerial vehicle body;
the high-altitude balloon is connected with the unmanned aerial vehicle body through a rope; and
the cutter is used for cutting off a rope between the unmanned aerial vehicle body and the high-altitude balloon;
the method for designing the flight path of the near space spherical solar unmanned aerial vehicle in the throwing process is used for optimizing the flight path of the unmanned aerial vehicle body in the pulling process after the cutter cuts off the rope, and comprises the following steps:
step A: carrying out mathematical description on the risk factor requirements and the flight state to be met of the unmanned aerial vehicle body in the pulling-up process and establishing a mathematical model;
wherein, in the step A, the risk factor requirement includes:
enabling the longitudinal overload of the unmanned aerial vehicle body to be smaller than the maximum overload allowed by the structural strength of the unmanned aerial vehicle body in the throwing and pulling processes; the maximum overload allowed by the structural strength of the unmanned aerial vehicle body is determined through design verification or a ground static strength test; and
on the premise of meeting overload requirements, the time for converting the unmanned aerial vehicle body from a vertical state to a horizontal flight state is reduced; the time for changing the unmanned aerial vehicle body from the vertical state to the horizontal flight state is reduced by reducing the turning radius r of the unmanned aerial vehicle body from the vertical state to the horizontal flight state;
The turning radius r satisfies the following equation:
r≥rmin
wherein r isminFor the minimum turning radius that the unmanned aerial vehicle organism changed into the horizontal flight state from vertical state, m does the quality of unmanned aerial vehicle organism, V0The real-time speed of the unmanned aerial vehicle body in the turning process is obtained;
wherein, in step A, the flight state that the unmanned aerial vehicle organism should satisfy includes:
the flight incidence angle of the unmanned aerial vehicle body in the pulling-up process is in an allowable range; wherein, the allowable range of the flight incidence angle is calculated or calculated through CFD according to the aerodynamic shape of the unmanned aerial vehicle bodyWind tunnel test determination, i.e. alphamin≤α≤αmax；
Wherein,
is the variation of the downward pitching moment of the deflection angle variation of the pitching rudder,
the variation of the downward pitching moment of the unit flight incidence variation is adopted;
the pitching rudder deflection angle of the unmanned aerial vehicle body is within the maximum travel range in the pulling process; and
the change of the attitude angle, the angular rate, the acceleration and the position of the unmanned aerial vehicle body is within a reasonable range;
and B: selecting a constraint condition and a target function;
and C: and optimizing the objective function by adopting a control variable parameterization method to obtain a real-time pitching rudder deflection angle of the unmanned aerial vehicle body in the pulling-up process.
2. The method for designing a flight path of a launching process of a near space solar unmanned aerial vehicle according to claim 1, wherein:
the attitude angle includes a roll angle, the roll angle being between ± 20 °;
said angular rate is between ± 20 °/s;
the acceleration is less than 25m/s2；
The position variation is less than 200 m.
3. The method for designing flight path of near space solar unmanned aerial vehicle launching process according to claim 1, wherein in the step B:
the constraint conditions include: control variables, state variables and control constraints;
wherein the control variables, the state variables and the control constraints are determined by the mathematical model, fuselage structural strength and aerodynamic shape of the drone airframe;
the objective function is determined based on the control variables, the state variables, and the control constraints.
4. The method for designing the flight path of the launching process of the near space solar unmanned aerial vehicle according to claim 1, wherein in the step C, an optimization method adopted for optimization by adopting a control variable parameterization method is a multi-objective comprehensive optimization method.
5. The method for designing a flight path of a launching process of a near space solar unmanned aerial vehicle according to claim 4, wherein the step C comprises the following steps:
Step C1: converting the target function into a standard form;
step C2: respectively dividing the time and the rudder deflection control quantity into n adjacent subintervals;
step C3: in each time subinterval, a segmented constant value is adopted to control the system, and the control variable after time dispersion is substituted into the objective function to obtain an optimal objective function;
step C4: and solving by adopting a sequential quadratic optimization method to obtain the optimal solution of the optimal objective function.
6. The method for designing a flight path of a launching process of a near space solar unmanned aerial vehicle according to claim 5, wherein the step C4 comprises:
step C4 a: calculating gradient information of the optimal objective function about a control quantity parameter;
step C4 b: checking whether the performance is optimal, if so, ending iteration, otherwise, jumping to the step C4C;
step C4C: and (4) calculating the search direction and the optimal step length by adopting a quasi-Newton method, obtaining a new control function, calculating the gradient of the target function again, and jumping to the step C4 b.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811024597.8A CN109141429B (en) | 2018-09-03 | 2018-09-03 | Method for designing flight path of near space ball-borne solar unmanned aerial vehicle in throwing process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811024597.8A CN109141429B (en) | 2018-09-03 | 2018-09-03 | Method for designing flight path of near space ball-borne solar unmanned aerial vehicle in throwing process |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109141429A CN109141429A (en) | 2019-01-04 |
| CN109141429B true CN109141429B (en) | 2021-08-03 |
Family
ID=64826679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811024597.8A Active CN109141429B (en) | 2018-09-03 | 2018-09-03 | Method for designing flight path of near space ball-borne solar unmanned aerial vehicle in throwing process |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109141429B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989626B (en) * | 2019-12-27 | 2021-07-27 | 四川大学 | Unmanned aerial vehicle path planning method based on control parameterization |
| CN111984023B (en) * | 2020-08-17 | 2023-12-19 | 中国科学院工程热物理研究所 | Dynamic pressure compensation-based ball-carried unmanned aerial vehicle system throwing section guidance law design method |
| CN112326185B (en) * | 2020-10-21 | 2021-07-06 | 中国空气动力研究与发展中心高速空气动力研究所 | Positioning control method for three-degree-of-freedom throwing mechanism of temporary-impulse type supersonic wind tunnel |
| CN112783184B (en) * | 2020-12-29 | 2022-11-15 | 广东空天科技研究院 | Method and system for controlling phase starting point in near space vertical launching |
| CN116501079B (en) * | 2023-03-09 | 2023-12-01 | 浙江大学 | Unmanned aerial vehicle high-altitude ball-load throwing control method based on reinforcement learning |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2504132A (en) * | 2012-07-20 | 2014-01-22 | Andrew Charles Elson | A solar powered UAV launched from a high altitude balloon |
| RU138371U1 (en) * | 2013-11-19 | 2014-03-10 | Элдар Али Оглы Разроев | UNMANNED AERIAL VEHICLE |
| CN104281153B (en) * | 2014-07-29 | 2017-06-06 | 北京航空航天大学 | A kind of method for designing of the approach track of unpowered vehicle |
| JP2016179742A (en) * | 2015-03-24 | 2016-10-13 | 株式会社フジタ | Flight body having cable |
| CN104960657B (en) * | 2015-07-23 | 2017-03-08 | 北京天航华创科技股份有限公司 | A kind of combination separate type stratosphere flight device system |
| CN105129086B (en) * | 2015-07-23 | 2017-06-27 | 天津天航智远科技有限公司 | A kind of Combined flat fluid layer aerocraft system scheme |
| AU2017256815A1 (en) * | 2016-04-29 | 2018-09-27 | Bhp Innovation Pty Ltd | A wireless communication system |
| CN206012932U (en) * | 2016-08-02 | 2017-03-15 | 张莱 | The combination aircraft that a kind of dirigible and unmanned plane are combined |
| CN206318028U (en) * | 2016-09-29 | 2017-07-11 | 中国科学院光电研究院 | A kind of Information Acquisition System based near space floating platform |
| CN207466961U (en) * | 2017-09-19 | 2018-06-08 | 中国科学院工程热物理研究所 | The collapsible undercarriage and its foldable structure of balloon borne near space solar energy unmanned plane |
-
2018
- 2018-09-03 CN CN201811024597.8A patent/CN109141429B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109141429A (en) | 2019-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109141429B (en) | Method for designing flight path of near space ball-borne solar unmanned aerial vehicle in throwing process | |
| CN108820222B (en) | Launch control method for ball-borne solar unmanned aerial vehicle | |
| US9669924B2 (en) | Unmanned aerial vehicle | |
| CN106794899A (en) | Flight equipment | |
| CN100541372C (en) | Automatic homing control method under a kind of unmanned vehicle engine involuntary stoppage | |
| CN106970531B (en) | Method for determining mode conversion control strategy of tilt wing vertical take-off and landing unmanned aerial vehicle | |
| CN110510149A (en) | A kind of Horizontal Take-off and Landing two-stage, which is entered the orbit, reuses sky and space plane layout | |
| CN107264794B (en) | A kind of control method of detachable hybrid driving vertical take-off and landing drone | |
| CN108928490A (en) | A kind of Horizontal Take-off and Landing two-stage enters the aerodynamic arrangement of orbit aerocraft | |
| CN108216679B (en) | Solar unmanned aerial vehicle overall parameter determination method and system | |
| El Adawy et al. | Design and fabrication of a fixed-wing Unmanned Aerial Vehicle (UAV) | |
| CN114740762A (en) | Power parafoil semi-physical simulation system based on active-disturbance-rejection decoupling control strategy | |
| CN109774916A (en) | A kind of Helios using three-dimensional layout designs | |
| CN110816806B (en) | Cluster type bionic solar unmanned aerial vehicle | |
| Marta et al. | Long endurance electric UAV for civilian surveillance missions | |
| CN104964610A (en) | Wave-rider configuration unmanned target drone | |
| Liu et al. | Energy acquisition of a small solar UAV using dynamic soaring | |
| CN111422348B (en) | Vertical take-off and landing unmanned aerial vehicle and control method thereof | |
| Guo et al. | Development of a solar electric powered UAV for long endurance flight | |
| CN201419796Y (en) | Unmanned aircraft | |
| CN116501079B (en) | Unmanned aerial vehicle high-altitude ball-load throwing control method based on reinforcement learning | |
| Goraj | A specialized UAV for surveillance in windy, turbulent environment of the Antarctic coast | |
| Parada | Conceptual and preliminary design of a long endurance electric UAV | |
| CN110920881A (en) | Vertical take-off and landing unmanned conveyor and control method thereof | |
| Wang et al. | A feasibility verification scheme with flight analysis for balloon-borne launched unmanned aerial vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |