WO2018059058A1

WO2018059058A1 - Landing control method for aerostat

Info

Publication number: WO2018059058A1
Application number: PCT/CN2017/092048
Authority: WO
Inventors: 刘若鹏; 栾琳; 周飞; 郑荣魁
Original assignee: 深圳光启空间技术有限公司
Priority date: 2016-09-28
Filing date: 2017-07-06
Publication date: 2018-04-05
Also published as: CN107867386A; CN107867386B

Abstract

Disclosed is a landing control method for an aerostat, comprising sending a landing signal to the aerostat by means of a controller; a capsule body of the aerostat starting to discharge air to make the aerostat start to land until the landing speed of the aerostat reaches a pre-set speed, and the capsule body stops discharging air; when the aerostat drops to a first pre-set height, controlling the charging of helium into the capsule body via a helium control system to increase the buoyancy acting on the capsule body during landing; when the acceleration of the aerostat during landing reaches a pre-set acceleration, controlling the helium control system to stop the charging of helium into the capsule body; and when the aerostat drops to a second pre-set height, the capsule body starting to discharge air to reduce the buoyancy of the aerostat until the aerostat drops to a third pre-set height. The method effectively reduces the speed of the aerostat when landing on the ground, so that the landing of the aerostat is more safe and reliable.

Description

Title of Invention: Falling Control Method for aerostat

Technical field

[0001] The present invention relates to the field of object landing control technology, and in particular to a landing control method for an aerostat.

Background technique

[0002] At present, many aerostats and airships are descending, and the landing is achieved only by exhausting, which causes the speed close to the ground to be much greater than zero.

technical problem

[0003] For the pods around It, landing to the ground can cause severe vibrations, and the integrity of the equipment cannot be guaranteed. Therefore, the safety of the existing floating method of the aerostat is relatively low.

Problem solution

Technical solution

The present invention is directed to a method for controlling the landing of a floater, which solves the problem of low safety of the launcher of the prior art.

In order to achieve the above object, according to an aspect of the present invention, a landing control method for an aerostat is provided, comprising: transmitting a landing signal to aerostat through a controller, and the capsule of the aerostat is exhausted In order to cause the aerostat to land down until the landing speed of the aerostat reaches a preset speed, the capsule stops exhausting, and when the aerostat falls to a first preset height, the helium charging is controlled by the helium control system. The capsule body is used to increase the buoyancy of the capsule during the landing; when the acceleration of the aerostat during the landing reaches a preset acceleration, the helium control system is controlled to stop the filling of the nitrogen into the capsule, when the aerostat falls to After the second preset height 吋, the capsule begins to vent to reduce the buoyancy of the aerostat until the aerostat falls to a third predetermined height.

[0006] Further, when the landing speed of the aerostat reaches a preset speed 吋, the acceleration of the aerostat is greater than zero, and the jerk of the aerostat is greater than zero.

[0007] Further, when the acceleration of the aerostat reaches a preset acceleration 吋, the jerk of the aerostat is equal to zero.

Further, in the process of dropping the aerostat from the second predetermined height 吋 to the third preset height, the landing speed of the aerostat gradually decreases, and the acceleration of the aerostat gradually decreases. [0009] Further, when the aerostat falls to a second preset height 吋, the buoyancy of the aerostat is greater than the gravity of the aerostat.

[0010] Further, when the aerostat falls to a third preset height 吋, the aerostat receives a buoyancy less than or equal to the gravity of the aerostat.

[0011] Further, when the aerostat falls to a third preset height 吋, the landing speed of the aerostat, the acceleration of the aerostat, and the jerk of the aerostat are both equal to zero.

[0012] Further, the acceleration of the aerostat during the landing reaches a preset acceleration 吋, and the landing speed of the aerostat gradually decreases.

[0013] Further, in the process of the aerostat falling to the second preset height, the landing speed of the aerostat gradually decreases

[0014] Further, after the falling speed of the aerostat reaches a preset speed, the aerostat achieves a uniform descending motion.

Advantageous effects of the invention

Beneficial effect

[0015] Applying the technical solution of the present invention, the method for controlling the landing of the aerostat includes: sending a landing signal to the aerostat through the controller, and the capsule of the aerostat starts to exhaust to cause the aerostat to start landing until The falling speed of the aerostat reaches the preset speed, the capsule stops exhausting, and when the aerostat falls to the first preset height, the helium gas is controlled by the helium control system to increase the filling of the capsule during the landing. Buoyancy received. When the acceleration of the aerostat during the landing reaches a preset acceleration 吋, the helium control system is controlled to stop the filling of the nitrogen into the capsule, and when the aerostat falls to a second preset height, the capsule begins to vent Reduce the buoyancy of the aerostat until the aerostat falls to a third preset height. The method is used to control the landing of the aerostat, which effectively improves the speed at which the aerostat falls to the ground, and makes the impulse of the receiving equipment and the base zero, making the landing of the aerostat more safe and reliable. Brief description of the drawing

DRAWINGS

[0016] The accompanying drawings, which are incorporated in the claims In the attached picture:

1 is a flow chart showing an embodiment of a method of controlling a landing of an aerostat according to the present invention; 2 is a schematic flow chart showing changes in physical parameters during a landing of an aerostat according to the present invention;

3 shows a schematic structural view of an aerostat according to the present invention.

[0020] wherein the above figures include the following reference numerals:

[0021] 10, the capsule structure; 20, the buffer device; 30, the pod.

Embodiments of the invention

[0022] It should be noted that, in the case of no conflict, the features in the embodiments and the embodiments in the present application may be combined with each other. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments.

[0023] It is to be noted that the terminology used herein is for the purpose of describing particular embodiments, and is not intended to limit the exemplary embodiments. As used herein, the singular " " " " " " There are features, steps, operations, devices, components, and/or combinations thereof.

[0024] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or Prioritization. It is to be understood that the terms so used are interchangeable as appropriate, such that the embodiments of the invention described herein can be implemented, for example, in a sequence other than those illustrated or described herein. In addition, the terms "comprises" and "comprises" and "comprises" or "comprises" or "comprises" or "comprises" or "comprises" Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

[0025] For ease of description, spatially relative terms may be used herein, such as "above", "above", "on top" , "above", etc., are used to describe the spatial positional relationship of one device or feature as shown in the figures with other devices or features. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation of the device described in the figures. For example, if the device in the figures is inverted, the device described as "above other devices or configurations" or "above other devices or configurations" will be positioned "below other devices or configurations" or "at" Under other devices or configurations." Thus, the exemplary term "above" can include both "above" and "below" Bit. The device can also be positioned in other different ways (rotated 90 degrees or at other orientations) and the corresponding description of the space used herein is interpreted accordingly.

Exemplary embodiments in accordance with the present application will now be described in more detail with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that this disclosure will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those of ordinary skill in the art. The thicknesses of the layers and regions are enlarged, and the same reference numerals are used to denote the same devices, and thus their description will be omitted.

[0027] According to an aspect of the invention, a drop control method for a floater is provided. The method includes transmitting a drop signal to the aerostat through the controller, and the aerostat is initially vented to cause the aerostat to drop from the first predetermined height to a second predetermined height. When the aerostat is at the second preset height 吋, the buffer device in the aerostat is lowered, and the aerostat is dropped from the second preset height to a third preset height. Wherein, when the aerostat is at the third preset height 吋, the speed of the aerostat is zero.

[0028] In the embodiment, since the buffer device is used in the process of landing the aerostat, the floating device is lowered to the third preset height by controlling the snoring and closing of the buffer device, and the aerostat is The speed is zero, effectively providing the safety of the aerostat landing. The method also effectively reduces the landing cost of the aerostat, effectively improves the secondary utilization of the aerostat device, ensures the safety and integrity of the data collected by the aerostat, and simultaneously prevents the aerostat from falling below the building and bridge below. The fixed object is damaged. By adopting the method of controlling the aerostat in the present embodiment, the impulse received by the equipment, the base, and the like is zero, which increases the safety and reliability of the aerostat.

[0029] wherein, the buffer device is a nitrogen buffer device, and when the nitrogen buffer device is blown, the nitrogen buffer device discharges nitrogen gas to reduce the falling speed of the aerostat. The use of a nitrogen-filled tank as a buffer for the floating aircraft can effectively increase the safety of the aerostat during the landing.

[0030] As shown in FIGS. 1 and 2, the aerostat is in a floating state before receiving the landing signal. In this case, the aerodynamic force of the aerostat is equal to the buoyancy of the aerostat. The aerodynamic velocity of the aerostat is 0, and the acceleration of the aerostat is also 0.

[0031] In order to more clearly describe the manner in which the aerostats are controlled at various stages, the parameters of the "jerk", that is, the physical quantities depicting the degree of change in acceleration, are further introduced below. In a subsequent embodiment, the acceleration reference Both the direction and the speed reference direction are taken to the ground in the positive direction. For example, if the acceleration is less than 0吋, it means that the acceleration direction of the aerostat is upward.

[0032] When the aerostat receives the landing control signal, the capsule begins to vent, and the buoyancy of the helium snorkel is insufficient to support its own gravity, and the acceleration begins to decrease, the acceleration is greater than 0, and the descending speed is greater than 0. However, due to the combination of the effect of the resistance and the exhaust control, the jerk is less than 0, that is, the rafter of the raft does not always accelerate.

[0033] When the aerostat descends to a preset speed 吋, the helium aerostat enters a new equilibrium state: resistance, buoyancy and gravity are again balanced, the helium is suspended, the descending speed of the aerostat reaches a maximum, and Continue to fall evenly in a balanced state. When the aerostat continues to land, and the distance from the ground reaches the first preset height, the helium control system controls the helium gas to fill the capsule, so that the buoyancy of the capsule increases, and the aerostat starts. slow down. The velocity of the helium float begins to decrease. Due to the increase in buoyancy, the acceleration is less than zero and the jerk is greater than zero.

[0034] When the acceleration of the aerostat reaches a preset acceleration, the helium gas is stopped from being charged, and the aerodynamic speed of the crucible continues to decrease, and the acceleration reaches a maximum value and remains stable, that is, the jerk is zero. The helium's aerostat is in a steady deceleration state to counteract the faster acceleration of the front acceleration descent, ensuring less speed on the ground.

[0035] Thereafter, when the aerostat is at the second preset height 吋, the capsule begins to exhaust, reducing the buoyancy of the aerostat, but still maintains the deceleration motion, and the aerodynamic speed of the crucible continues to decrease, and the acceleration decreases. Small, that is, the buoyancy of this crucible is greater than gravity.

[0036] The aerostat maintains the state and continues to descend. When the aerostat just reaches the ground (ie, the third preset height), the capsule stops exhausting, the buoyancy of the balloon is less than or equal to gravity, and the aerostat Speed, acceleration, and jerk are all zero.

[0037] According to the aerostat lowering method provided by the above embodiment, the speed of landing to the ground raft is improved, and the impulse of the receiving equipment and the base is 0, which is safe and reliable.

[0038] The aerostat according to the present invention is used for information acquisition, and the aerostat is the aerostat in the above embodiment. The aerostat includes a controller and a buffer device 20. The controller is disposed on the aerostat body for receiving and/or transmitting an electrical signal. The buffer device 20 is disposed on the aerostat body to reduce the landing speed of the aerostat.

[0039] Specifically, as shown in FIG. 3, the aerostat further includes a capsule structure 10, a nitrogen buffer, and a nacelle 30. The capsule structure 10 is provided with an information collector, which can collect the charge and discharge conditions and speed of the aerostat. Parameters for degrees, acceleration, height, etc. The buffer device 20 is a nitrogen buffer device, the nitrogen buffer device is disposed in the capsule structure 10, and the nitrogen buffer device is provided with a control valve. The nacelle 30 is coupled to the capsule structure 10 and below the capsule structure 10, and a control system for controlling the opening or closing of the nitrogen buffer is provided in the nacelle 30.

According to the apparatus of Fig. 3, after the controller of the aerostat receives the landing command, the action of deflation is started. According to the landing method mentioned above, the 吋 is determined according to the collected height, speed, acceleration and other information, and the specific step of the current landing to the descending step is determined, and then the descending speed is adjusted by controlling the venting of the aerostat. , acceleration, etc. Finally, it is only a preferred embodiment of the present invention that the pod 30 is dropped to the ground with a zero impulse. The above description is not intended to limit the present invention, and the present invention may be variously modified and changed by those skilled in the art. . Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

Claim

A method for controlling a landing of a floating device, comprising:

A falling signal is sent to the aerostat by the controller, the capsule of the aerostat is vented to cause the aerostat to initially land until the landing speed of the aerostat reaches a preset speed, The capsule stops venting, and when the aerostat falls to a first predetermined height 吋, the helium gas is controlled by the helium control system to charge the capsule to increase the buoyancy of the capsule during the landing;

When the acceleration of the aerostat during the landing reaches a preset acceleration 吋, the helium control system is controlled to stop the charging of nitrogen into the capsule, and when the aerostat falls to a second preset height 吋The capsule begins to vent to reduce the buoyancy of the aerostat until the aerostat falls to a third predetermined height.

The method for controlling the landing of aerostat according to claim 1, wherein when the falling speed of the aerostat reaches the preset speed 吋, the acceleration of the aerostat is greater than zero, the floating The jerk of the device is greater than zero.

The method for controlling the landing of aerostat according to claim 1, wherein when the acceleration of the aerostat reaches the preset acceleration 吋, the jerk of the aerostat is equal to

[Claim 4] The method for controlling the landing of the aerostat according to claim 1, wherein the process of dropping the aerostat from the second predetermined height to the third predetermined height The landing speed of the aerostat gradually decreases, and the acceleration of the aerostat gradually decreases.

[Claim 5] The method for controlling the landing of aerostat according to claim 1, wherein the aerostat is lowered to the second predetermined height, and the buoyancy of the aerostat is greater than The gravity of the aerostat.

[Claim 6] The method for controlling the landing of aerostat according to claim 1, wherein the aerostat is lowered to the third predetermined height 吋, and the buoyancy of the aerostat is less than or Equal to the gravity of the aerostat.

[Claim 7] The method for controlling the landing of aerostat according to claim 1, wherein the aerostat falls to the third predetermined height 吋, the landing speed of the aerostat, Floating The acceleration of the device and the jerk of the aerostat are both equal to zero.

[Claim 8] The method for controlling the landing of the aerostat according to claim 1, wherein the acceleration of the aerostat during the landing reaches the preset acceleration 吋, the landing of the aerostat The speed is gradually decreasing.

[Claim 9] The method for controlling the landing of aerostat according to claim 1, wherein a falling speed of the aerostat during the landing of the aerostat to the second predetermined height slowing shrieking.

[Claim 10] The method for controlling the landing of aerostat according to claim 1, wherein the aerostat achieves a uniform descending motion after the landing speed of the aerostat reaches a preset speed.