基于副气囊耦合的飞艇纵向运动影响分析

高空大型飞艇副气囊体积占比很大,甚至达90%以上,副气囊动力学对飞艇运动产生较大影响。对巡航高度为6 000 m的某大型飞艇,建立基于圆柱容器的副气囊动力学模型,进一步构建考虑副气囊的飞艇纵向耦合动力学方程,并对飞艇纵向运动进行了数值仿真,将其与不考虑副气囊时的结果进行对比。结果表明:副气囊对大型飞艇俯仰运动有较大影响,容易引起运动发散,且耦合影响随飞艇高度增大而变小,同时副气囊体积不变时,其直径越小,动力学耦合效应影响越小;副气囊效应会降低飞艇的操纵性,在进行飞艇设计时应该予以考虑。      

考虑风场条件的一类平流层飞艇返回过程建模与航迹规划研究

对一类气囊内外压差恒定的平流层软式飞艇,在考虑大气密度、温度变化以及大气风场的基础上,建立了飞艇三维空间运动的动力学模型;并针对能量消耗最少和航行时间最短两个指标函数,利用高斯伪谱法设计了飞艇从平流层返回地面的航迹,并对飞艇飞行高度、速度以及推力等状态变化进行分析研究.     

基于激光测距的飞艇净重在线计算方法研究CSCD

通过对三维建模软件CATIA中的飞艇副气囊模型进行切片分割,获得了不同副气囊高度下的对应体积值,使用最小二乘法建立了副气囊中心点高度与副气囊体积的三次曲线拟合公式,采用相位式激光测距仪对副气囊中心高度测量,使用该公式可以估算出副气囊的实时体积大小,从而推算飞艇净重大小,掌握飞艇的压力高度和起降能力。使用某次飞行试验对副气囊高度测量的数据计算出的飞艇净重值,与多次地面称重数据一致性较好,验证了使用激光测距仪对大型飞艇净重进行在线评估的可行性,并使用该方法对某飞艇某次飞行试验过程中的净重进行了分析,对飞艇的压力高度进行了核算。     

基于激光测距的飞艇净重在线计算方法研究

通过对三维建模软件CATIA中的飞艇副气囊模型进行切片分割,获得了不同副气囊高度下的对应体积值,使用最小二乘法建立了副气囊中心点高度与副气囊体积的三次曲线拟合公式,采用相位式激光测距仪对副气囊中心高度测量,使用该公式可以估算出副气囊的实时体积大小,从而推算飞艇净重大小,掌握飞艇的压力高度和起降能力。使用某次飞行试验对副气囊高度测量的数据计算出的飞艇净重值,与多次地面称重数据一致性较好,验证了使用激光测距仪对大型飞艇净重进行在线评估的可行性,并使用该方法对某飞艇某次飞行试验过程中的净重进行了分析,对飞艇的压力高度进行了核算。     

基于改进CO-RS的平流层飞艇总体设计与优化

为改进响应面协同优化(CO-RS,Collaborative Optimization based on Response Surface)方法的工程实用性,提出改进的CO-RS方法.在响应面建立中应用广义乘子法和信赖域法,取消响应面更新对梯度的依赖性.针对平流层飞艇的总体设计与优化问题,基于改进的CO-RS框架,进行了系统任务分析和学科耦合分析.对气动与推进子系统、结构子系统和能源子系统进行了学科分析,以最小化平流层飞艇的质量为目标,建立基于改进CO-RS框架的多学科设计优化(MDO,Multidisciplinary Design Optimization)模型和相应的学科分析模型.利用iSIGHT软件搭建求解平台,采用改进的CO-RS算法进行仿真计算,并得到合理结果,验证了所建立的MDO模型的合理性和改进的CO-RS算法在平流层飞艇总体设计优化中的有效性.     

综合热力学模型的平流层飞艇上升轨迹优化

针对平流层飞艇的上升轨迹优化问题,综合热力学模型进行了研究.主要分析了飞艇基本热力学行为,研究了蒙皮及内部气体的能量方程并建立了详细的飞艇动力学和运动学模型.在热力学、动力学和运动学分析的基础上,建立了以飞行时间为优化目标的平流层飞艇的轨迹优化模型.利用直接配点法将轨迹优化问题转化为非线性优化问题,再通过非线性求解器SNOPT(Sparse Nonlinear Optimizer)对不同场景的问题进行最优化轨迹求解.优化结果表明:热力学效应对优化轨迹有较大影响,在上升过程中,太阳能辐射为主要影响因素,另外风场也对换热量有一定影响.     

平流层飞艇总体设计的基础问题

平流层飞艇是一种新型的长航时临近空间飞行器，具有驻空高度高、驻空时间长、承载能力大、使用效费比高等特点，在对地观测及通信中继等领域具有广泛应用前景。但是该飞行器系统十分复杂，技术与设计实现难度大，总体设计需要考虑的基础问题及解决方案尚不完全明晰。根据平流层大气风场、温度和压力的基础特征，考虑平流层环境对平流层飞艇总体设计的影响，根据空气动力学与热力学基本理论，分析平流层飞艇的显著特征及与常规低空飞艇的区别，研究这些基础问题对平流层飞艇总体设计的影响，为平流层飞艇技术发展提供建议和参考。      

基于激光测距的飞艇净重在线计算方法研究

通过对三维建模软件CATIA中的飞艇副气囊模型进行切片分割,获得了不同副气囊高度下的对应体积值,使用最小二乘法建立了副气囊中心点高度与副气囊体积的三次曲线拟合公式,采用相位式激光测距仪对副气囊中心高度测量,使用该公式可以估算出副气囊的实时体积大小,从而推算飞艇净重大小,掌握飞艇的压力高度和起降能力。使用某次飞行试验对副气囊高度测量的数据计算出的飞艇净重值,与多次地面称重数据一致性较好,验证了使用激光测距仪对大型飞艇净重进行在线评估的可行性,并使用该方法对某飞艇某次飞行试验过程中的净重进行了分析,对飞艇的压力高度进行了核算。     

基于压差梯度的平流层飞艇艇囊应力计算和仿真

平流层飞艇体积庞大,艇囊表面曲率小,因而蒙皮材料的局部应力集中极易导致飞艇艇囊蒙皮发生过大变形而迅速超压损伤破坏.基于飞艇艇囊内外压力压差梯度载荷条件,建立飞艇艇囊蒙皮受内外压差真实工况下环向与轴向应力的理论计算模型,构建飞艇蒙皮应力分析的Von Mises强度准则.并采用ABAQUS有限元软件非线性仿真艇囊蒙皮分别在超压300,500,800 Pa载荷下的各点环向的Von Mises应力状况.仿真结果与理论模型计算的应力值基本保持一致,飞艇艇囊蒙皮环向Von Mises应力呈现随压差梯度增大而递增的规律,而轴向Von Mises应力大小由环向Von Mises应力、蒙皮局部经纬向曲率共同决定,且两方向的Von Mises应力均与超压载荷大小成正相关关系,为飞艇艇囊蒙皮超压应力评估和强度计算提供基础性研究.     

Trajectory tracking control for underactuated stratospheric airship

Stratospheric airship is a new kind of aerospace system which has attracted worldwide developing interests for its broad application prospects. Based on the trajectory linearization control (TLC) theory, a novel trajectory tracking control method for an underactuated stratospheric airship is presented in this paper. Firstly, the TLC theory is described sketchily, and the dynamic model of the stratospheric airship is introduced with kinematics and dynamics equations. Then, the trajectory tracking control strategy is deduced in detail. The designed control system possesses a cascaded structure which consists of desired attitude calculation, position control loop and attitude control loop. Two sub-loops are designed for the position and attitude control loops, respectively, including the kinematics control loop and dynamics control loop. Stability analysis shows that the controlled closed-loop system is exponentially stable. Finally, simulation results for the stratospheric airship to track typical trajectories are illustrated to verify effectiveness of the proposed approach.     

考虑倍率的平流层飞艇储能电池建模与分析

准确掌握储能电池的实际电量是确保平流层飞艇实现长航时飞行的关键因素之一。首先，建立了平流层飞艇能源系统仿真模型，对能量输入和消耗进行动态分析。随后，对储能电池进行不同电流倍率的充放电测试，采用多项式拟合的方法，根据测试数据建立了储能电池充放电过程中荷电状态(SOC)、剩余放电时间(RDT)、剩余充电时间(RCT)的分析模型。最后，结合能源系统能量输入、消耗模型和储能电池模型进行飞行模拟仿真，获取各部分变化数据，与已有试验数据进行量化对比分析。结果表明:所构建储能电池模型在SOC、RDT、RCT的计算误差分别小于3%、1.5%、1.5%，能够准确反映电池工作过程中SOC、RDT、RCT的变化，可为平流层飞艇平台制定优化的飞行策略提供量化支撑。      

一类平流层飞艇质量和惯量特性的计算方法与分析

针对一类具有双拼椭球体外形的平流层飞艇,根据适当假设,给出该类飞艇质量和惯量特性的解析计算方法.以飞艇上升过程为例,通过仿真计算给出该过程飞艇质量、质心位置和转动惯量的变化曲线,结合理论分析,验证该计算方法的合理性.最后,简要分析了质量和惯量特性变化对飞艇运动稳定性和能控性的影响.     

平流层飞艇热力学验证温度测量方法研究

平流层飞艇的热力学分析是平流层飞艇关键技术之一。针对热力学分析的工程验证及模型完善,提出了适合于平流层飞艇的艇囊内气体及囊体表面的温度测量方法,包括采集点的分布,传感器的选型,数据传输和处理及数据准确性评价等。经过两次平流层飞艇的缩比飞行试验,对比同艇发放的探空仪采集的温度数据,验证了该方法测量到的数据的准确性。     

Station-keeping control for a stratospheric airship platform via fuzzy adaptive backstepping approach

This paper presents a novel approach for station-keeping control of a stratospheric airship platform in the presence of parametric uncertainty and external disturbance. First, conceptual design of the stratospheric airship platform is introduced, including the target mission, configuration, energy sources, propeller and payload. Second, the dynamics model of the airship platform is presented, and the mathematical model of its horizontal motion is derived. Third, a fuzzy adaptive backstepping control approach is proposed to develop the station-keeping control system for the simplified horizontal motion. The backstepping controller is designed assuming that the airship model is accurately known, and a fuzzy adaptive algorithm is used to approximate the uncertainty of the airship model. The stability of the closed-loop control system is proven via the Lyapunov theorem. Finally, simulation results illustrate the effectiveness and robustness of the proposed control approach.     

Effect of vapor condensation on ascending performance of stratospheric airship

This paper reports a numerical investigation on the effects of water vapor condensing inside the air bag of a stratospheric airship on its ascending performance. The kinetic and thermal model considering vapor condensation was established, based on which a computer program was written in Fortran. The simulation results show that the vapor condensation remarkably affects the kinetic and thermal characteristics of the stratospheric airship in the ascent process. During the ascent process below 11 km, a large amount of latent heat is released when the water vapor in the air inside the air bag of the stratospheric airship condenses, which results in the increase of the temperature and the reduction of the weight of the air in the air bag, causing the airship to speed up, the accelerated expansion of the helium, and the decrease of the helium temperature in the helium bag. When the flight altitude is higher than 11 km, the effect of vapor condensation on the kinetic and thermal characteristics of the stratospheric airship is negligible because vapor is virtually nonexistent in the air.     

Ascent trajectory optimization for stratospheric airship with thermal effects

Ascent trajectory optimization with thermal effects is addressed for a stratospheric airship. Basic thermal characteristics of the stratospheric airship are introduced. Besides, the airship’s equations of motion are constructed by including the factors about aerodynamic force, added mass and wind profiles which are developed based on horizontal-wind model. For both minimum-time and minimum-energy flights during ascent, the trajectory optimization problem is described with the path and terminal constraints in different scenarios and then, is converted into a parameter optimization problem by a direct collocation method. Sparse Nonlinear OPTimizer(SNOPT) is employed as a nonlinear programming solver and two scenarios are adopted. The solutions obtained illustrate that the trajectories are greatly affected by the thermal behaviors which prolong the daytime minimum-time flights of about 20.8% compared with that of nighttime in scenario 1 and of about 10.5% in scenario 2. And there is the same trend for minimum-energy flights. For the energy consumption of minimum-time flights, 6% decrease is abstained in scenario 1 and 5% decrease in scenario 2. However, a few energy consumption reduction is achieved for minimum-energy flights. Solar radiation is the principal component and the natural wind also affects the thermal behaviors of stratospheric airship during ascent. The relationship between take-off time and performance of airship during ascent is discussed. it is found that the take-off time at dusk is best choice for stratospheric airship. And in addition, for saving energy, airship prefers to fly downwind.     

A general calculation method to specify center-of-buoyancy for the stratospheric airship with multiple gas cells

As the lighter-than-air (LTA) flight vehicle, the stratospheric airship is a desirable platform to provide communication and surveillance services. During the ascent from sea-level to the mission altitude, the volume of the lifting gas may change significantly, which will result in the change of the center-of-buoyancy (CB). A general calculation method is developed to specify CB for the stratospheric airship with a double-ellipsoid hull and an arbitrary number of the gas cells. The cross-section-integral (CSI) method is used as a basic calculation scenario to specify CB. Considering the complexity in determining the boundary between the helium and air in the gas cell, a searching algorithm is put forward and the specification of CB can be conducted by the iterative calculation. As an important application, the stable condition of the pitch angle is analyzed when the change of CB is involved. Under different initial configurations, the stable pitch angle of the stratospheric airship during the ascent is specified and compared, which shows the advantages of the multi-gas-cell configuration. The results of this paper may provide an important reference for the engineering application of the stratospheric airship.