CN119062904B - Unmanned aerial vehicle pneumatic ejection air supply system and air supply control method - Google Patents
Unmanned aerial vehicle pneumatic ejection air supply system and air supply control method Download PDFInfo
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- CN119062904B CN119062904B CN202411562401.6A CN202411562401A CN119062904B CN 119062904 B CN119062904 B CN 119062904B CN 202411562401 A CN202411562401 A CN 202411562401A CN 119062904 B CN119062904 B CN 119062904B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/70—Launching or landing using catapults, tracks or rails
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C13/00—Details of vessels or of the filling or discharging of vessels
- F17C13/002—Details of vessels or of the filling or discharging of vessels for vessels under pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C13/00—Details of vessels or of the filling or discharging of vessels
- F17C13/02—Special adaptations of indicating, measuring, or monitoring equipment
- F17C13/025—Special adaptations of indicating, measuring, or monitoring equipment having the pressure as the parameter
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C13/00—Details of vessels or of the filling or discharging of vessels
- F17C13/04—Arrangement or mounting of valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C7/00—Methods or apparatus for discharging liquefied, solidified, or compressed gases from pressure vessels, not covered by another subclass
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2205/00—Vessel construction, in particular mounting arrangements, attachments or identifications means
- F17C2205/01—Mounting arrangements
- F17C2205/0123—Mounting arrangements characterised by number of vessels
- F17C2205/013—Two or more vessels
- F17C2205/0134—Two or more vessels characterised by the presence of fluid connection between vessels
- F17C2205/0138—Two or more vessels characterised by the presence of fluid connection between vessels bundled in series
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2205/00—Vessel construction, in particular mounting arrangements, attachments or identifications means
- F17C2205/03—Fluid connections, filters, valves, closure means or other attachments
- F17C2205/0302—Fittings, valves, filters, or components in connection with the gas storage device
- F17C2205/0323—Valves
- F17C2205/0326—Valves electrically actuated
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2205/00—Vessel construction, in particular mounting arrangements, attachments or identifications means
- F17C2205/03—Fluid connections, filters, valves, closure means or other attachments
- F17C2205/0302—Fittings, valves, filters, or components in connection with the gas storage device
- F17C2205/0323—Valves
- F17C2205/0332—Safety valves or pressure relief valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2205/00—Vessel construction, in particular mounting arrangements, attachments or identifications means
- F17C2205/03—Fluid connections, filters, valves, closure means or other attachments
- F17C2205/0302—Fittings, valves, filters, or components in connection with the gas storage device
- F17C2205/037—Quick connecting means, e.g. couplings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2250/00—Accessories; Control means; Indicating, measuring or monitoring of parameters
- F17C2250/01—Intermediate tanks
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2250/00—Accessories; Control means; Indicating, measuring or monitoring of parameters
- F17C2250/06—Controlling or regulating of parameters as output values
- F17C2250/0605—Parameters
- F17C2250/0626—Pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2270/00—Applications
- F17C2270/01—Applications for fluid transport or storage
- F17C2270/0186—Applications for fluid transport or storage in the air or in space
- F17C2270/0189—Planes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2270/00—Applications
- F17C2270/05—Applications for industrial use
- F17C2270/0563—Pneumatic applications
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention belongs to the technical field of unmanned aerial vehicle pneumatic ejection, and discloses an unmanned aerial vehicle pneumatic ejection air supply system and an air supply control method, wherein the unmanned aerial vehicle pneumatic ejection air supply system comprises a high-pressure tank, a low-pressure tank and an air supply control device, wherein the high-pressure tank is used for supplying air to the low-pressure tank; the system comprises a plurality of launching cylinders, a low-pressure tank, a first air path control unit, a second air path control unit and a main control unit, wherein the low-pressure tank is connected with the plurality of launching cylinders and is used for providing air sources required by pneumatic ejection of the unmanned aerial vehicle, the first air path control unit comprises a pressure reducing valve and an on-off electromagnetic valve which are arranged on a main pipeline, the second air path control unit comprises a first pilot valve and a second pilot valve which are connected in series, and the main control unit is respectively connected with a first pressure sensor and the on-off electromagnetic valve and is used for carrying out on-off control on the on-off electromagnetic valve according to acquired pressure data of the first pressure sensor. The invention adopts the two-stage pilot valve and the pressure reducing valve to form the gas circuit control unit, and combines the electromagnetic valve, the main control unit and the pressure sensor to form the closed-loop control unit, thereby realizing automatic gas supply and gas supplement in the continuous and rapid launching process of the unmanned aerial vehicle, and having high gas supplement precision.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle pneumatic ejection, and particularly relates to an unmanned aerial vehicle pneumatic ejection air supply system and an air supply control method.
Background
Along with the rapid development of microminiature unmanned aerial vehicles and patrol missiles, the battle mode of the bee colony system is getting more and more attention. The pneumatic ejection technology is to control the low-pressure air storage chamber to be instantaneously deflated through the pneumatic element of the ejection device, and form high-pressure air flow in the launching barrel, so that the unmanned aerial vehicle or the patrol projectile reaches the required barrel discharging speed, and the launching operation of the unmanned aerial vehicle and the patrol projectile is realized. The conventional pneumatic ejection device is usually single-tube ejection and does not have continuous ejection capability, and the clustered pneumatic ejection device is usually low in air supplementing speed and difficult to meet the requirement of rapid continuous ejection.
In order to solve the problem that the air supplementing speed is low in the continuous and rapid launching process of the unmanned aerial vehicle, the cluster type pneumatic ejection device adopts a mode of combining a high-pressure tank and a low-pressure tank, automatically supplements air in the low-pressure tank through the high-pressure tank, and utilizes an air source in the low-pressure tank to realize the ejection of the unmanned aerial vehicle. Because the quantity of the transmitting pipes is more, the total air quantity required by transmitting is larger, so that the air pressure in the high-pressure tank is higher, the air pressure difference between the high-pressure tank and the low-pressure tank is large, and when the air is automatically supplemented into the low-pressure tank, the problem of overcharging exists, and the ejection pressure control precision in the continuous transmitting process of the unmanned aerial vehicle is difficult to ensure.
Disclosure of Invention
The invention aims to provide a pneumatic ejection air supply system and an air supply control method for an unmanned aerial vehicle, which are used for solving the problem that ejection pressure control precision is not high in the continuous ejection process of the unmanned aerial vehicle in the existing cluster type pneumatic ejection device.
The invention is realized by the following technical scheme:
Unmanned aerial vehicle pneumatic ejection air feed system includes:
the high-pressure tank is used for supplying air to the low-pressure tank, and the air pressure in the high-pressure tank is larger than the air pressure in the low-pressure tank;
the low-pressure tank is connected with the plurality of emission cylinders and used for providing an air source required by pneumatic ejection of the unmanned aerial vehicle, the low-pressure tank is connected with the high-pressure tank through a main pipeline, and a first pressure sensor for detecting the air pressure of the low-pressure tank is arranged on the low-pressure tank;
The first air path control unit comprises a pressure reducing valve and an on-off electromagnetic valve which are arranged on the main pipeline, wherein the front end of an inlet of the pressure reducing valve is connected with the high-pressure tank, the outlet end of the pressure reducing valve is connected with the on-off electromagnetic valve, and the on-off electromagnetic valve is connected with the low-pressure tank;
The second gas circuit control unit comprises a first pilot valve and a second pilot valve which are connected in series, wherein the inlet end of the first pilot valve is connected with the front ends of the inlets of the high-pressure tank and the pressure reducing valve respectively, the outlet end of the second pilot valve is connected with the pressure reducing valve, the set pressure value of the first pilot valve is larger than the target pressure of the low-pressure tank, and the set pressure value of the second pilot valve is not smaller than the target pressure of the low-pressure tank and smaller than the set pressure value of the first pilot valve;
And the main control unit is respectively connected with the first pressure sensor and the switch electromagnetic valve and is used for carrying out switch control on the switch electromagnetic valve according to the acquired pressure data of the first pressure sensor.
In some embodiments, the set pressure value of the first pilot valve is 2.5-3 times the target air pressure of the low pressure tank.
In some embodiments, the second pilot valve has a set pressure value that is 1.5-2 times the target pressure of the low pressure tank.
In some embodiments, a first exhaust gas relief valve for pressure relief is provided on the low pressure tank.
In some embodiments, an integrated valve block is arranged on the main pipeline, a first ball valve is arranged between a first inlet end of the integrated valve block and an outlet end of the high-pressure tank, an outlet of the integrated valve block is respectively connected with an inlet end of the first pilot valve and an inlet front end of the pressure reducing valve, and a second pressure sensor for detecting the air pressure of the high-pressure tank and a second exhaust safety valve for pressure relief are arranged on the integrated valve block.
In some embodiments, the second inlet end of the integrated valve block is provided with a quick-change connector for connection with a base station air source, and the outlet end of the integrated valve block is connected with a second ball valve, which is connected with the inlet end of the first pilot valve and the inlet front end of the pressure reducing valve, respectively.
In some embodiments, a transmitting valve is respectively arranged between the low-pressure tank and each transmitting cylinder, and the transmitting valves are connected with the main control unit.
On the other hand, the invention also provides an air supply control method based on the unmanned aerial vehicle pneumatic ejection air supply system, which comprises the following steps:
Setting set pressure values of a first pilot valve and a second pilot valve, so that the set pressure value of the first pilot valve is larger than the air pressure required by a low-pressure tank, the set pressure value of the second pilot valve is larger than the air pressure required by the low-pressure tank and smaller than the set pressure value of the first pilot valve, and controlling the output pressure of a pressure reducing valve through the pressure output by the second pilot valve;
The main control unit controls the switch of the switch electromagnetic valve according to the acquired pressure data of the first pressure sensor, and when the pressure data of the first pressure sensor reaches the target air pressure required by the low-pressure tank, the main control unit controls the switch electromagnetic valve to be closed.
In some embodiments, a supply air buffer zone is set, the minimum value of the supply air buffer zone is not less than the minimum value of the target air pressure value control accuracy range and the maximum value of the supply air buffer zone is greater than the maximum value of the target air pressure value control accuracy range;
when the pressure data detected by the first pressure sensor is in the air supply compensation buffer zone, the main control unit controls the switch electromagnetic valve to be closed.
In some embodiments, after the air pressure in the low-pressure tank reaches the target air pressure, the main control unit controls the opening of the emission valve of one of the emission cylinders to be emitted;
After the emission of an unmanned aerial vehicle is completed, the main control unit controls the air supply to the low-pressure tank until reaching the target air pressure, and the emission of each emission cylinder is completed in a sequential cycle.
Compared with the prior art, the invention has the following advantages:
According to the invention, the gas circuit control unit is formed by the two-stage pilot valve and the pressure reducing valve, the filtering is carried out through the first pilot valve, the output pressure of the pressure reducing valve is controlled by the second pilot valve, the two-stage pilot valve is matched for use, so that the problem that the set pressure value of the pilot valve is continuously increased in continuous emission and air supplementing operation and cannot effectively control the output pressure of the pressure reducing valve is solved, the output pressure of the pressure reducing valve can be always kept in a constant range, and the automatic air supply and air supplementing in the continuous and rapid emission process of the unmanned aerial vehicle are realized by combining the closed loop control formed by the electromagnetic valve, the main control unit and the pressure sensor, the air supplementing precision is high, and the ejection pressure control precision in the continuous emission process of the unmanned aerial vehicle is ensured.
The invention has the advantages of short time for supplementing air to the low-pressure tank after each emission, high automation degree and good satisfaction of the continuous and rapid emission requirement of the unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly describe the drawings in the embodiments, it being understood that the following drawings only illustrate some embodiments of the present invention and should not be considered as limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a pneumatic ejection air supply system of an unmanned aerial vehicle according to an embodiment of the invention.
Fig. 2 is a graph of the performance of the air supply test of the pneumatic ejection air supply system of the unmanned aerial vehicle according to the embodiment of the invention.
Wherein:
1. The high-pressure tank, 2, the low-pressure tank, 3, the relief valve, 4, the switch solenoid valve, 5, the first pilot valve, 6, the second pilot valve, 7, the main pipeline, 8, the main control unit, 9, the first pressure sensor, 10, the second pressure sensor, 11, the first exhaust safety valve, 12, the second exhaust safety valve, 13, the integrated valve piece, 14, the first ball valve, 15, the second ball valve, 16, the quick-change connector, 17, the basic station air supply, 18, the transmitting cylinder, 19, the transmitting valve.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
The air supply modes of pneumatic ejection commonly used at present comprise:
1. Each emission cylinder is provided with a high-pressure gas cylinder for independent gas supply, the emission pressure is high and overload is high due to the fact that the volume of the gas cylinder is small, each gas cylinder needs to be inflated before emission, the preparation period of emission is long, and the system control is complex.
2. The air supply is carried out on the total air source through the compressor, so that automatic air supply is realized, but the air supply time is long due to the limitation of the power of the compressor, and the air supply precision is difficult to guarantee.
3. The high-pressure tank is arranged to supplement air into the low-pressure tank, and the electromagnetic valve is controlled to be opened and closed through the feedback signal to realize automatic air supplement, but because the quantity of the transmitting pipes is more, the total air quantity required is larger, the total pressure in the high-pressure tank is higher, the pressure difference between the high-pressure tank and the low-pressure tank is larger, and particularly when the former few generators are supplemented with air, the problem of pressure overcharge is easy to occur, and the control precision of each ejection pressure cannot be ensured.
4. The high-pressure tank is arranged to supplement air into the low-pressure tank, and the mechanical pressure reducing valve is arranged in series with the electromagnetic valve to perform air supplementing control in the air path control, so that the air pressure loop can have pressure pulses when the air pressure loop is ejected in rapid and continuous mode, the set pressure of the mechanical pressure reducing valve can be gradually increased due to the generated pressure pulses, and the control precision of each ejection pressure is difficult to ensure.
Aiming at the problems of the existing air supply mode of realizing continuous emission by pneumatic ejection, the invention provides an unmanned aerial vehicle pneumatic ejection air supply system, which adopts a mode of automatically supplying air and supplementing air to a low-pressure tank by a high-pressure tank, can realize the rapid continuous occurrence of a plurality of unmanned aerial vehicles, and the air source in the high-pressure tank can meet the emission of all the unmanned aerial vehicles, so that the emission control operation is simple, and the time required for the preparation of the emission is short.
The two-stage pilot valve and the pressure reducing valve are combined to form the gas circuit control unit and are connected in series with the switch electromagnetic valve, the pressure fluctuation of the pressure reducing valve is controlled through the filtering and pressure control functions of the two-stage pilot valve in a combined closed-loop control mode, automatic and accurate gas supply and gas supplementing operation of the low-pressure tank in the continuous emission process is realized, the ejection pressure of each unmanned aerial vehicle can be accurately controlled, and the ejection barrel speed of the unmanned aerial vehicle can be controlled in a stable range.
In some embodiments, the unmanned aerial vehicle pneumatic ejection air supply system, referring to fig. 1, comprises:
The high-pressure tank 1 is used for supplying air to the low-pressure tank and supplementing air to the low-pressure tank after the emission of each unmanned aerial vehicle is completed, the air pressure in the high-pressure tank is larger than the air pressure in the low-pressure tank, the air source in the high-pressure tank can meet the emission requirements of all frames in an emission system, the high-pressure tank can meet the emission requirements after being inflated once, and the time required for the preparation of the emission is short. Typically, the air pressure in the high pressure tank is 20-28bar, the air pressure in the low pressure tank is 2.0-2.6bar, and the air pressure in the low pressure tank can be set according to the emission requirement.
The low-pressure tank 2 is connected with a plurality of emission cylinders and is used for providing air sources required by pneumatic ejection of the unmanned aerial vehicle to realize pneumatic ejection of the unmanned aerial vehicle, the low-pressure tank 2 is connected with the high-pressure tank 1 through a main pipeline 7, the high-pressure tank supplies air and supplements air to the low-pressure tank through the main pipeline, and a first pressure sensor 9 used for detecting the air pressure of the low-pressure tank is arranged on the low-pressure tank 2.
The first air path control unit comprises a pressure reducing valve 3 and an on-off electromagnetic valve 4 which are arranged on a main pipeline, wherein the front end of an inlet of the pressure reducing valve 3 is connected with the high-pressure tank 1, the outlet end of the pressure reducing valve 3 is connected with the on-off electromagnetic valve 4, and the on-off electromagnetic valve 4 is connected with the low-pressure tank 2;
The second gas path control unit comprises a first pilot valve 5 and a second pilot valve 6 which are connected in series, wherein the inlet end of the first pilot valve 5 is respectively connected with the front ends of the inlets of the high-pressure tank 1 and the pressure reducing valve 3, and the outlet end of the second pilot valve 6 is connected with the pressure reducing valve 3, wherein the set pressure value of the first pilot valve 5 is larger than the target pressure of the low-pressure tank, and the set pressure value of the second pilot valve 6 is not smaller than the target pressure of the low-pressure tank and smaller than the set pressure value of the first pilot valve.
The first air path control unit and the second air path control unit form an air path control unit of the air supply system together, so that pressure control in air supply and air supplement operation is realized.
And the main control unit 8 is respectively connected with the first pressure sensor 9 and the switching electromagnetic valve 4, and is used for carrying out switching control on the switching electromagnetic valve according to the acquired pressure data of the first pressure sensor.
The main control unit can be used as an automatic control unit of the air supply system, an existing controller can be adopted, the controller can control the opening and closing of the switch electromagnetic valve through the acquired pressure data in the low-pressure tank according to a set control program, when the air pressure in the low-pressure tank is lower than the target pressure, the switch electromagnetic valve is controlled to be opened, so that the high-pressure tank can supply air and supplement air to the low-pressure tank, and when the air pressure in the low-pressure tank reaches the set target pressure, the switch electromagnetic valve is controlled to be closed, so that automatic control of air supply and air supplement is realized.
In the air supply and air supplementing process, the air supply system adopts a first pilot valve and a second pilot valve to form a two-stage pilot valve, and the two-stage pilot valve is connected with the pressure reducing valve in series.
The set pressure value of the first pilot valve 5 is typically set to be much larger than the target pressure required for the low pressure tank, for example, set to be 2.5-3 times the target pressure of the low pressure tank. The first pilot valve plays a role in filtering in the gas circuit, and can reduce pressure pulses generated in the continuous gas supply and gas supplementing processes, so that the problem of over-charging caused by gradual increase of the pressure of the output end of the pressure reducing valve due to the pressure pulses is avoided.
The set pressure value of the second pilot valve 6 is set to be slightly larger than the target pressure required by the low-pressure tank, for example, the set pressure value of the second pilot valve is set to be 1.5-2 times of the target air pressure of the low-pressure tank, at the moment, the pressure output by the second pilot valve is fed back to the pressure reducing valve, and then the output pressure of the pressure reducing valve for supplying air to the main pipeline is controlled, so that the control of the air supply pressure in the air supply and air supplementing operation is realized, the air is supplied to the low-pressure tank at the stable output pressure, and the problem of overcharging of the low-pressure tank is avoided. The set pressure value of the second pilot valve is set to be slightly higher than the target pressure of the low-pressure tank, and the speed of air supply and air supplement is improved while the output pressure of the pressure reducing valve is controlled.
When the first air pressure sensor detects that the pressure of the low-pressure tank reaches the target air pressure, a feedback signal is sent to the main control unit, the switch electromagnetic valve is controlled to be closed, and air supply and air supplement of the low-pressure tank are completed.
In order to improve the overall air supply rate of the air supply system, the set pressure value of the second pilot valve is set to be larger than the target pressure of the low pressure tank, and meanwhile, the set pressure value of the first pilot valve is set to be larger than the set pressure value of the second pilot valve, so that the set pressure value of the first pilot valve is far larger than the target pressure of the low pressure tank.
When the cluster type transmitting device transmits the unmanned aerial vehicle, in the continuous transmitting process, the transmitting interval time is very short (about 2 s), so that the low-pressure tank needs to be rapidly switched between the inflation state and the deflation state, at the moment, the switching electromagnetic valve is also frequently switched between the opening state and the closing state, and the frequent switching of the switching electromagnetic valve causes pressure fluctuation of the output end and the input end of the pressure reducing valve.
In a gas path control unit formed by a pilot valve and a pressure reducing valve, the action of the pressure reducing valve is controlled by a set pressure value of the pilot valve, when the pressure of the output end of the pressure reducing valve and the pressure of the output end of the pilot valve form pressure balance, the pressure reducing valve is closed, and when the pressure of the output end of the pressure reducing valve is smaller than the pressure of the output end of the pilot valve, the pressure reducing valve is opened, so that the opening and closing control of the pressure reducing valve is realized.
However, when the pressure fluctuation of the output end of the pressure reducing valve and the main pipeline is excessively large, the set pressure value of the pilot valve is gradually increased, so that the pressure of the output end of the pressure reducing valve is gradually increased, and the air supplementing precision is affected.
In the invention, two-stage pilot valves are connected in series and then connected in parallel with a main pipeline, when the pressure fluctuation impact of the main pipeline is too large, the pressure fluctuation impact on the pipeline on one side of the pilot valve is also larger, if only one pilot valve is adopted, the set pressure value of the pilot valve is gradually increased under the action of the pressure fluctuation impact, and when two pilot valves connected in series are adopted, the pressure fluctuation impact of the main pipeline is concentrated on the first pilot valve, so that the first pilot valve can play a role of filtering, and at the moment, the pressure set value of the second pilot valve can be kept stable, the output pressure is stable, and the output pressure and the stability of the pressure reducing valve can be controlled.
In some embodiments, a first exhaust safety valve 11 for pressure relief is arranged on the low-pressure tank 2, so that the safety of low-pressure tank air supply is ensured.
In some embodiments, an integrated valve block 13 is arranged on the main pipeline 7, a first ball valve 14 is arranged between a first inlet end of the integrated valve block 13 and an outlet end of the high-pressure tank 1, an outlet of the integrated valve block 13 is respectively connected with an inlet end of the first pilot valve 5 and an inlet front end of the pressure reducing valve 3, and a second pressure sensor 10 for detecting the air pressure of the high-pressure tank and a second exhaust safety valve 12 for pressure relief are arranged on the integrated valve block 13.
The first ball valve 14 is arranged as a switch for supplying air, and is opened to supply air source for the air circuit before being emitted, and meanwhile, the first ball valve can be closed in the process of storing or transporting the system, so that the problem of leakage caused by long-time pressure bearing of a high-pressure tank and an air supply system pipeline is avoided.
The integrated valve block is integrated with a plurality of interfaces, and is respectively connected with a second pressure sensor to realize the detection of the pressure in the high-pressure tank, and is connected with a second exhaust safety valve to ensure the safety of the high-pressure tank.
In some embodiments, a quick-change connector 16 for connection to a base station air source is provided at the second inlet end of the integrated valve block 13, a second ball valve 15 is provided at the outlet end of the integrated valve block, and the second ball valve 15 is connected to the inlet end of the first pilot valve 5 and the inlet front end of the pressure reducing valve 3, respectively.
The interface of the integrated valve block is respectively connected with a quick-change connector 16 and a second ball valve 15, so that the high-pressure tank can be quickly inflated by a base station air source 17. When the high-pressure tank is inflated, the second ball valve is closed, the first ball valve is opened, the quick-connection connector is connected to a base station air source, after inflation is completed, the quick-change connector is disconnected, and the quick-change connector has self-sealing performance after disconnection. When the pressure in the high-pressure tank is over-charged, the second exhaust safety valve can realize automatic exhaust and pressure relief, so that the safety of the high-pressure gas circuit is ensured.
In some embodiments, a respective emitter valve 19 is provided between the low-pressure tank 2 and each emitter tube 18, the emitter valve 19 being connected to the main control unit 8. When transmitting, the main control unit controls the opening of the transmitting valve, the low-pressure tank supplies air to the transmitting cylinder, and the current transmitting cylinder is finished to transmit unmanned aerial vehicle.
On the other hand, based on the unmanned aerial vehicle pneumatic ejection air supply system, the invention also provides an unmanned aerial vehicle pneumatic ejection air supply control method, so as to realize rapid and accurate air supply to the low-pressure tank in the unmanned aerial vehicle continuous emission process.
In some embodiments, the method for controlling the air supply of the pneumatic ejection of the unmanned aerial vehicle comprises the following steps:
Setting set pressure values of a first pilot valve and a second pilot valve, so that the set pressure value of the first pilot valve is larger than the air pressure required by a low-pressure tank, the set pressure value of the second pilot valve is larger than the air pressure required by the low-pressure tank and smaller than the set pressure value of the first pilot valve, and controlling the output pressure of a pressure reducing valve through the pressure output by the second pilot valve;
The main control unit controls the switch of the switch electromagnetic valve according to the acquired pressure data of the first pressure sensor, and when the pressure data of the first pressure sensor reaches the target air pressure required by the low-pressure tank, the main control unit controls the switch electromagnetic valve to be closed.
When the air pressure in the low-pressure tank reaches the target air pressure, the main control unit controls the emission valve of one of the emission cylinders to be emitted to be opened, so that the emission of an unmanned aerial vehicle is completed;
After the emission of the unmanned aerial vehicle is completed, the air pressure in the low-pressure tank is reduced, and air is required to be supplemented in the low-pressure tank before the next emission, at the moment, the switch electromagnetic valve is controlled to be opened through the main control unit, and the air is supplemented in the low-pressure tank until the target air pressure is reached;
And (5) sequentially circulating to finish the emission of each emission cylinder.
Referring to the pneumatic ejection air supply system of unmanned aerial vehicle shown in fig. 1, connect and be 5 rows 5 and prop up 25 unmanned aerial vehicle transmitting unit that set up in a bundle on the low pressure jar, every transmitting unit includes a transmitting valve and a transmitting cylinder, through main control unit to automatic air supplementing operation with the control of transmitting valve, can realize 25 unmanned aerial vehicle transmitting unit's continuous emission control, need not personnel's operation and intervention in the transmission process, degree of automation is high.
When the low-pressure tank is supplied with air and supplemented with air, because pressure fluctuation exists in the low-pressure tank, in order to avoid the influence of frequent actions of the switching electromagnetic valve after receiving the pressure feedback signal on the speed of air inflation and air supplementation, an air supply buffer section can be arranged, and the switching electromagnetic valve is controlled based on the air supply buffer section.
Typically, the minimum value of the supply air buffer section is not less than the minimum value of the target air pressure value control accuracy range and the maximum value of the supply air buffer section is greater than the maximum value of the target air pressure value control accuracy range. For example, when the target air pressure value of the low-pressure tank is 7.55±0.05bar, the air-supplementing buffer interval can be set to be 7.5-7.8 bar.
When the low-pressure tank is inflated for the first time, the low-pressure tank is not inflated for the first time before the emission, so that in the emission operation, when the switch electromagnetic valve is electrified on the main control unit or the emission control system binds, a control instruction is sent to the switch electromagnetic valve in advance to control the switch electromagnetic valve to be opened, the low-pressure tank is inflated for the first time in advance, and the first inflation of the low-pressure tank is achieved in the emission preparation stage. After the main control unit receives the emission control instruction, the emission valve is controlled to be opened, and the unmanned aerial vehicle can be emitted rapidly.
The two-stage pilot valve, the pressure reducing valve and the on-off electromagnetic valve are adopted to form the air supply control system, so that the air supply control system has remarkable advantages in realizing the air supply control precision of the low-pressure tank compared with a control mode of only adopting one pilot valve and the pressure reducing valve.
When the continuous air supply and air supplementing operation in the continuous emission process is carried out, rapid fluctuation of the pressure at the output end of the pressure reducing valve is caused, pressure pulses are formed, pressure fluctuation in a pilot valve pipeline is caused, the set pressure value of the originally set pilot valve is changed and gradually increased, the pressure at the output end of the pressure reducing valve is gradually increased, and the air supplementing pressure in a low-pressure tank is gradually increased along with the times of air supplementing, so that accurate air supplementing is difficult to realize.
As described above, when only one pilot valve is used, the pressure set value of the pilot valve and the output end pressure of the pressure reducing valve are increased by about 2bar at the time of continuous emission of 25 th shot, and therefore, even if the switching solenoid valve is provided for pressure feedback control at the time of emission of 25 th shot, it is difficult to achieve accurate control of the inflation pressure by means of pressure feedback control due to the pressure difference of about 2bar between the main line and the low pressure tank, resulting in the pressure of the low pressure tank being overcharged. As the number of emissions increases, the greater the impact on control accuracy.
This kind of control method, when carrying out the air supplementing operation in unmanned aerial vehicle continuous emission, can lead to starting from first, the actual value of the pressure of aerifing in the low pressure jar increases gradually, and the air pressure that provides for every unmanned aerial vehicle transmission is different, leads to unmanned aerial vehicle's play section of thick bamboo speed inconsistent, influences unmanned aerial vehicle's emission control precision.
The invention adopts a combined control mode of the two-stage pilot valve, the pressure reducing valve and the switch electromagnetic valve, the first pilot valve is used for filtering, reducing the influence of pressure fluctuation on the set pressure value of the second pilot valve, the second pilot valve is used for controlling the output pressure of the pressure reducing valve, the problem of the change of the set pressure value of the second pilot valve is well solved through the cooperation between the two-stage pilot valves, and the output pressure of the pressure reducing valve can be always kept in a constant range through two-stage pressure stabilizing control, so that the accurate control of the pressure supplementing in the low-pressure tank is realized.
Based on the control of the output pressure of the pressure reducing valve, the pressure drop of the input end of the switching electromagnetic valve is reduced, and the pressure is stable, so that the air supplementing precision can be controlled while the automatic air supplementing is realized, the air pressure in the low-pressure tank can be kept within the target pressure range during each time of emission, and the control precision of continuous emission of the unmanned aerial vehicle is ensured.
Referring to fig. 2, a pressure graph of a gas supply operation for a low pressure tank using the gas supply control system and the gas supply control method of the present invention during continuous emission is shown.
As can be seen from the figure, when the air supply system is adopted to continuously emit for 25 groups of emission units to supply air and supplement air, the pressure value after each air supplement in the low-pressure tank is basically consistent from the first emission to the last emission, which indicates that the air supply system has good air charging pressure control precision and the time required for air supplement between each emission is short.
And according to the comparison of the two-wheel test, in the continuous emission operation of the two wheels, the air supply pressure curves basically coincide, so that the air supply system has good stability and reliability, and the requirement of repeated emission and use of the cluster type emission device can be met.
In the description of the present invention, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are used to indicate orientations or positional relationships based on those shown in the drawings, or those that are conventionally put in use in the product of the present invention, they are merely used to facilitate description of the present invention and simplify description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "horizontal," "vertical," and the like in the description of the present invention, if any, do not denote absolute levels or overhangs, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless explicitly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected through an intermediate medium, or in communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in combination with specific cases.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent variation, etc. of the above embodiment according to the technical matter of the present invention fall within the scope of the present invention.
Claims (8)
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| JP2000161529A (en) * | 1998-11-30 | 2000-06-16 | Yokota Seisakusho:Kk | Automatic adjusting valve device |
| CN117326119A (en) * | 2023-09-14 | 2024-01-02 | 成都飞机工业（集团）有限责任公司 | A high-pressure air source vehicle |
| CN117550123A (en) * | 2024-01-10 | 2024-02-13 | 成都航天万欣科技有限公司 | Pneumatic ejection system and control method |
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| US1987032A (en) * | 1931-05-08 | 1935-01-08 | Spence Paulsen | Automatic regulating valve |
| AU603907B2 (en) * | 1987-06-30 | 1990-11-29 | Hitachi Construction Machinery Co. Ltd. | Hydraulic drive system |
| GB9212122D0 (en) * | 1992-06-09 | 1992-07-22 | Technolog Ltd | Water supply pressure control apparatus |
| IT1264866B1 (en) * | 1993-06-22 | 1996-10-17 | Nuovo Pignone Spa | PERFECTED ELECTRO-PNEUMATIC CONVERTER WITH SOLENOID VALVE CONTROL |
| JP3790778B2 (en) * | 1996-05-29 | 2006-06-28 | 博 横田 | Automatic adjustment valve device |
| DE102017011527A1 (en) * | 2017-12-13 | 2019-06-13 | Wabco Gmbh | Compressed air supply system for operating a pneumatic system. Procedure and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000161529A (en) * | 1998-11-30 | 2000-06-16 | Yokota Seisakusho:Kk | Automatic adjusting valve device |
| CN117326119A (en) * | 2023-09-14 | 2024-01-02 | 成都飞机工业（集团）有限责任公司 | A high-pressure air source vehicle |
| CN117550123A (en) * | 2024-01-10 | 2024-02-13 | 成都航天万欣科技有限公司 | Pneumatic ejection system and control method |
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