Low-altitude airship flight control system and flight control method thereof

Abstract

The invention discloses a low-altitude airship flight control system and a flight control method thereof, belonging to the technical field of aircraft control. The system comprises a front-end data acquisition and processing subsystem, a navigation and flight control and state monitoring subsystem, a rear-end driving execution module subsystem and a flight application subsystem, wherein the front-end data acquisition and processing subsystem is connected with sensing equipment and used for transmitting acquired flight environment and airship state information, the navigation and flight control and state monitoring subsystem is connected with an airship navigation sensor and the rear-end driving execution module subsystem and used for transmitting navigation and flight control information, the rear-end driving execution module subsystem is connected with an airship execution controller and used for transmitting empennage steering engine pulse width modulation signals, propelling rotating speed control voltages and valve blower switch information, and the flight application subsystem is connected with a ground station and used for transmitting flight control instructions and telemetry parameter information through a data radio. The low-altitude airship flight control system disclosed in the invention is suitable for various civil and military systems.

Description

technical field [0001] The invention relates to a system and method in the technical field of aircraft control, in particular to a flight control system and a flight control method for a low-altitude airship at a height of 1 km. Background technique [0002] The low-altitude airship has the advantages of long time in the air, good stability, easy control, and large equipment load. It has been favored by the military and civilian markets. At present, it is mainly used in monitoring, aerial photography, advertising, and satellite relay. For example, in 1996 The Skyship600 airship was used for surveillance in the Atlanta Olympic Games. In 2003, the UAVRS II low-altitude unmanned airship developed by the Chinese Academy of Surveying and Mapping was used for remote sensing monitoring. However, in practical applications, most airships require manned or ground operators to operate them remotely, which greatly limits the flight time and flight environment of the airship, and increas...

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Problems solved by technology

[0003] To solve this problem, Beijing University of Aeronautics and Astronautics developed an iFLY40 autopilot based on Beijing Bochuang Xingsheng Robotics Co., Ltd., which uses dual ARM7TDMI core CPUs, separates mission navigation and flight control calculations, and uses GPS (Clobal Position System) and IMU (Inertial Measurement Unit) navigation data integrated navigation system, but its shortcoming is that this system is mainly aimed at unmanned aerial vehicle systems, and such flight control computer systems are also based on the PC104 module developed by Huang Yimin, a researcher at Nanjing University of Aeronautics and Astronautics. The miniaturized flight control computer, and this type of computer rarely considers the particularity of unmanned airships. For example, the flight control computer does not design the interface of the environmental control system including blowers and valves. Deflate to adjust the pressure difference of the airbag to control the height of the airship, there is a fatal hidden danger

In addition, the propulsion system of an airship usually has more than one, generally including 2 side propulsion (vector control), sometimes including tail propulsion, and the empennage has 4 control surfaces, including 2 elevator surfaces and 2 rudder surfaces. It is difficult for the unmanned aerial vehicle flight control computer to realize the effective control of the unmanned airship

In addition, there are some low-end airship remote control systems on the market, such as the Smart pilot autopilot of Beijing Zhixiang Company. Suzhou Ark Airship Company only uses it for general demonstration flights, mainly using remote control. The reason is that the airbag pressure and center of gravity of the airship etc. are greatly affected by the environment, and the Smart pilot autopilot does not consider the environmental factors of the airship, which makes it difficult to accurately control the position and attitude of the airship with the designed PID parameters

[0004] After searching the existing technologies, it is found that the flight control system includes "Design of Small Unmanned Airship Flight Control System" (2007) by Fan Minyi of Nanjing University of Science and Technology, and "ST-3 Airship Design" by Wang Jin, et al. Oriented Flight Control and Monitoring System Design" (2009) and "Unmanned Airship Flight Control System Software Design" (2008) by Chen Hui, Institute of Optoelectronics, Chinese Academy of Sciences, etc. -Engine’s Design and Implementation of High Performance Flight Controller” (2007) and “An Aircraft Autopilot with Dual Processors” (ZL20042007039.8) designed by Zhou Zhaoying of Tsinghua University. Most of the flight control systems designed in these documents It treats the unmanned airship as a drone (or itself is a drone), and seldom studies the sensitivity of unmanned airship control to the environment, as well as the shortcomings of emergency control and low energy utilization.

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