CN107368090A - A kind of fixed-wing solar energy unmanned plane endurance method of estimation - Google Patents
A kind of fixed-wing solar energy unmanned plane endurance method of estimation Download PDFInfo
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Abstract
The invention discloses a kind of fixed-wing solar energy unmanned plane endurance method of estimation, comprise the following steps：Step 1：Solar energy unmanned plane energy production situation is counted, i.e. solar energy unmanned plane each flies the energy production total amount of day；Step 2：Calculate energy consumption status, the i.e. each flight D aily energy expenditure amount of aircraft；Step 3：Based on energy balance criterion, the flight time window under ideal conditions is estimated；Step 4：Consider actual battery capacity, flight time window is accurately estimated.It is of the invention relatively simple nearly all place, which be applicable, on earth, and accommodation is very extensive to be estimated to solar energy unmanned plane endurance.The inventive method is simply, conveniently, it is only necessary to several parameters, is easy to engineer applied.
Description
Technical field
The present invention relates to solar energy unmanned aerial vehicle design and mission planning field, specifically, refers to a kind of fixed-wing sun
Can unmanned plane endurance method of estimation.
Background technology
Endurance estimation has very important valency to solar energy unmanned plane design evaluation at initial stage and later stage mission planning, decision-making
Value.Solar energy unmanned plane is different from traditional aircraft, and it is using solar radiant energy as main energetic, and conventional airplane is then with fossil fuel
Based on, it carries energy, and there is total amount to understand, energy service condition also relatively easily pass through more than half by prediction, performance estimation method
The development in century is highly developed, but energy total amount is because needing real-time collecting solar radiant energy entrained by solar energy unmanned plane
And be stored in energy-storage battery, related to many factors such as weather conditions, state of flight, flight time place, estimation is very tired
Difficulty, as the weather forecasting inherently one of long period it is extremely complex the problem of, be not yet well solved.At present, from
From the point of view of the open source information collected, the research that the endurance on solar energy unmanned plane is estimated lacks very much.
In conventional airplane performance estimation theory, endurance estimation is attributed to aircraft stable state or quasi-steady state performance indications, by resolving
Method difference is commonly divided into analytic method and diagram method.Analytic method is according to aircraft kinematical equation, kinetics equation and power
Credit is analysed, and then states target variable as analytical function, and its mathematical derivation is rigorous, clear physics conception, directly can accurately ask
The mathematical formulae of performance parameter needed for solution and attention.Diagram method, the ordered series of numbers formed by calculating several numerical value, Ran Houcong
In find out solution of the value required for one as problem, for this method based on thrust force method, power method and energy method, it represents straight
See understandable, be easy to be combined with flight performance calculation initial data, and be applicable and the high power of Analytical Solution or can not be difficult to
Journey, it is used widely in engineer applied.
When estimating solar energy unmanned plane continuation of the journey endurance, although its flight reappearance does not change, energy total amount has non-
Often big uncertainty, this brings huge challenge to the estimation of solar energy unmanned plane endurance, however, duration performance is to scout, supervise
Depending on or such application such as communication relay based on solar energy unmanned plane for, be its evaluate the most key index of task ability it
One, and solar energy unmanned aerial vehicle design person is to one of solar energy unmanned plane initial designs emphasis performance assessment criteria, to its assignment decisions
It is significant with design evaluation.What is more important：It is how this kind of special to determine for solar energy unmanned plane
Aircraft index system, to promote its design, using standardization, it will also promote the maturation of solar energy unmanned plane industrial chain with entering
Step.Its first have to solve be：How definition is adapted to evaluate the performance indications that solar energy unmanned plane is continued a journey, and could preferably reflect too
Positive energy unmanned plane continuation of the journey feature, its evaluation method is objective, its index is measurable or statistics.
The content of the invention
The invention aims to solve the above problems, propose under a kind of clear sky meteorological condition for giving type, flying
Row place and the fixed-wing solar energy unmanned plane endurance method of estimation of flight time.The method is given birth to using solar energy unmanned plane energy
The sunny energy unmanned plane different location of Models computed and the energy production power of time are produced, is disappeared with reference to unmanned plane mission profile energy
Consumption and unmanned plane back-up source energy reserve capacity limit, to solar energy unmanned plane using day as the energy circulation cycle, count 1 year
Daily energy balance situation in 365 days, finally to draw solar energy unmanned plane follow-on mission performance.Finally, based on solar energy without
Man-machine sustainable flight performance characteristics, solar energy " flight time window " concept is proposed, so as to more convenient description solar energy unmanned plane
Continuation of the journey.The present invention can be used for Helios design, control and mission planning, especially in Helios design and task
In planning field, Helios design and the feasibility of mission planning are tested with reasonability using the method
Card, analysis.
A kind of fixed-wing solar energy unmanned plane endurance method of estimation, comprises the following steps：
Step 1：Count solar energy unmanned plane energy production situation, i.e., solar energy unmanned plane each fly day energy life
Produce total amount；
Step 2：Calculate energy consumption status, the i.e. each flight D aily energy expenditure amount of aircraft；
Step 3：Based on energy balance criterion, the flight time window under ideal conditions is estimated；
Step 4：Consider actual battery capacity, flight time window is accurately estimated.
The advantage of the invention is that：
(1) relatively simple solar energy unmanned plane endurance can be estimated；
(2) this method accommodation is very extensive, and nearly all place can be applicable on earth；
(3) method of estimation is simple, conveniently, it is only necessary to several parameters, is easy to engineer applied.
Brief description of the drawings
Fig. 1 is solar energy unmanned plane energy balance relations schematic diagram of the present invention；
Fig. 2 is that the present invention combines certain type unmanned plane during flying time window schematic diagram；
Fig. 3 present invention specific implementation flow charts.
Embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
The present invention utilizes energy balance principle such as Fig. 1, based on solar energy unmanned plane energy production model, first counts given nothing
The 365 days energy production situations in man-machine cruise target region 1 year；Secondly, kinetics relation when given unmanned plane patrols winged, 1 is calculated
Individual flight D aily energy expenditure situation；Finally persistently cruised relation according to unmanned plane, judge whether unmanned plane during flying day is sustainable
Flight time window day, so that it is determined that solar energy unmanned plane is continued a journey.
For above-mentioned design, a kind of described fixed-wing solar energy unmanned plane endurance method of estimation, as shown in figure 3, including
Following steps：
Step 1：Count energy production situation
By solar energy unmanned plane energy production model, objective, 365 days 1 year each moment solar energy unmanned planes are counted
Energy production situation；
Ih=Ib sinαe+Id (2)
B=1.219-0.043 τb-0.151τd-0.204τbτd (5)
D=0.202+0.852 τb-0.007τd-0.357τbτd (6)
In formula：I represents solar radiation constant
I0Represent solar constant, ndaySolar day, (since January 1,1) January 1 is in day.
Ih：The total solar radiation intensity being subject on unit level face；
Ib：The direct solar radiation intensity being subject on unit level face；
Id：The direct scattering strength of the sun being subject on unit level face；
mr：Air quality ratio；
τb,τd:Direct projection and scattering optical depth, it is obtained by tabling look-up with difference；
b,d:Direct projection and scattering air quality index；
αe:Sun altitude, it is mutually remaining with zenith angle.
Current sun altitude and azimuth, can refer to such as following formula (8), (9)：
sin(αe)=sin (nlat)sin(δ)+cos(nlat)cos(δ)cosω(t) (8)
δ=0.4093sin (2 π (284+n)/365) (10)
ω (t)=0.2618 × (12-tlocal) (11)
Wherein, αsRepresent solar azimuth；αeRepresent sun altitude；nlatRepresent flight locations latitude；δ represents that the sun is red
Latitude angle；When ω (t) represents the sun；tlocalRepresent local current time.
Sunshine enters the incidence angle of the unmanned airfoil of solar energy, then is calculated with reference to following formula：
Wherein, λ is the incidence angle that sunshine enters Helios aerofoil, and θ is the solar energy unmanned plane angle of pitch, and ψ is
Solar energy unmanned plane yaw angle, φ are solar energy unmanned machine rolling angle.
The unmanned airfoil intensity of solar radiation of solar energy and solar energy unmanned plane energy production power：
Pin=ηsolSPs(λ) (14)
Wherein, Ps(λ) represents aerofoil unit area intensity of solar radiation when aspect is (ψ, θ, φ)；ρrIt is anti-for ground
Rate is penetrated, can table look-up acquisition.S is wing area；ηsolFor solar battery efficiency；PinRepresent current solar energy unmanned plane energy life
Produce power.
1 flight day unmanned plane energy production total amount Euav, can be obtained according to formula (14)
Wherein, ndayTo specify solar day day；t00 is taken equivalent to flight day zero point；tfTake 86400 to be equivalent to fly in seconds
24 points of day.
Step 2：Calculate energy consumption status
The energy expenditure of unmanned plane is mainly that aircraft overcomes aerodynamic drag to do work, in addition also avionic device energy consumption
And mission payload energy expenditure, its total energy consumption PoutIt is represented by
Pout=Ppropul+Pav+Ppld (16)
Wherein, PpropulIt is related to unmanned plane during flying state for power needed for electric propulsion system；PavFor unmanned aerial vehicle onboard
Electronic equipment consumption power (such as flight-control computer, satellite navigation module, data link) is general in unmanned plane during flying
Change is little, is assumed to be constant value in the present invention；PpldPower consumption needed for mission payload (such as video camera, infrared sensing equipment
Deng), its value is related to performing task institute carrying equipment, also assumes that in the present invention as constant value.
For solar energy unmanned plane, its state of flight is mostly based on surely high cruise, when its fixed high constant speed is stable
It is flat when flying, because power consumption needed for electric propulsion system is used to overcome resistance to do manual work, then propulsion system power PpropulIt can be write as
Wherein, ηpropFor propeller efficiency, ηmotMotor and reduction box power transfer efficiency, ηctrlDrive efficiency, V are winged
Scanning frequency degree, D are flight resistance, can be calculated as the following formula：
Wherein：ρ、α is respectively atmospheric density, zero lift coefficient, lift coefficient caused by the angle of attack and is attacked
Angle.
When unmanned plane is flat winged, its gravity is equal with lift then：
L=mg (22)
L=ρ V2SCL/2 (23)
Wherein, L is lift, m is Aircraft Quality, g is acceleration of gravity；
Simultaneous formula (22), formula (23), then CLCruising speed is：
Wherein, CDFor resistance coefficient；For zero-lift drag coefficient；K is aerodynamic coefficient；RaFor aspect ratio；ε is
Oswald efficiency factors；L is unmanned plane lift；CLFor lift coefficient.
In period [t0,tf] in, unmanned plane energy expenditure total amount Eout(t0,tf), it can be calculated by formula (14)：
Association type (16) and formula (25), then Eout(t0,tf) be represented by
Step 3：Based on energy balance criterion, the flight time window under ideal conditions is estimated
Principle based on energy method, when not considering solar energy unmanned plane battery capacity (i.e. ideally), solar energy
Unmanned plane will be realized to fly round the clock, it is necessary to meets energy relationship in formula (27)
Euav≥Epropul+Eav+Epld (27)
Wherein, EuavFor unmanned plane production energy.
In the present invention, solar energy unmanned plane endurance may be defined as：The flight day that flight can be completed to pass through in 1 year round the clock gathers
(in terms of day), to characterize endurance during solar energy unmanned plane clear sky weather flight.The index be weigh solar energy nobody
The leading indicator of machine overlength endurance characteristic.It is described in detail below, it is assumed that flight locations select somewhere on the Northern Hemisphere, with reference to the Northern Hemisphere
Solar radiation in whole year characteristic, general summer solar radiation is stronger, then flight day ndayValue isWhen (from January 1
Day starts, and January 1 was that 1) solar energy unmanned plane can round the clock be flown and (meet formula (27)), and
For non-stop flight day.ThenThe as flight time window (solar energy unmanned plane endurance) of rough estimate.Work as flight
At the Southern Hemisphere, its day value general type that can be flown round the clock is ground point selectionWithFor the present invention if do not illustrated, solar energy unmanned plane during flying place is the Northern Hemisphere.Expression can be flown day round the clock, except mutually outside the Pass, flight locations are to it with aerial mission, unmanned plane self attributes
Have a great influence, soIt is to be estimated for a certain flight locations.
After the definition for specifying flight time window, next need, based on solar radiation day radiation statistical law, to ask for flying
The time window border date, so as to calculate solar energy unmanned plane during flying time window under estimated ideal conditions, as shown in Figure 2
April 3 and September 7 days.Assuming that solar energy unmanned plane carries out stable state flight (fixed high, constant speed) and the storage of unmanned plane back-up source is held
Amount is enough big, and the analytic solutions that solve endurance will be very difficult, for this with reference to figure 2, according to energy production computational methods, calculate respectively
1 year each flight day energy production situation, and each flight D aily energy expenditure situation is drawn out, further according to energy expenditure calculating side
Method, calculate 1 year each flight D aily energy expenditure situation, and its curve drawn in same coordinate system, energy production curve and
Energy expenditure intersections of complex curve is flight time window boundary value.Solar energy unmanned plane is calculated according to formula (1)-(15) each to fly
Its energy production total amount of row day；The each flight D aily energy expenditure amount of aircraft is calculated further according to formula (16)-(26)；Last foundation formula
(27) time-of-flight window border is determined so that it is determined that the time.
Step 4：Consider actual battery capacity, flight time window is accurately estimated
Except meeting formula for entrepreneurship (27), unmanned plane energy storage capability judgment criterion such as formula (28)：
Wherein,Power and consumption power-balance moment are produced for the solar energy unmanned plane morning,For solar energy nobody
Machine production power in afternoon and consumption power-balance moment, EbatFor battery contained energy total value, unit watt-hour can be based on formula (29)
Calculate：
Ebat=CbatUbat (29)
Wherein, CbatFor energy-storage battery capacity, unit ampere-hour, UbatFor energy-storage battery nominal voltage.Formula (29) is substituted into, formula
(28) can be organized into as follows
Then, using formula (30), to the flight time window ideally obtained by step 3In institute
There is the dateScreened, obtained new across non-stop flight day round the clockThe set of compositionAs practicable flight time window.
Embodiment：
Assuming that certain solar energy unmanned plane parameter is as shown in table 1, cruise place is Beijing (39.93 ° of N, 116.28 ° of E, height above sea level
55 meters), solar energy unmanned plane energy production estimation parameter is as shown in table 2.Beijing is calculated 1 year by formula (1)-formula (15) first
365 days daily solar energy unmanned plane energy production situations.Secondly, unmanned plane energy consumption status is calculated according to formula (16)-(26).
Then, ideally unmanned plane during flying time window is drawn according to formula (27) unmanned plane energy production, expending equilibrium relation.Most
Afterwards, according to the actual capacity of formula (28)-formula (30) battery, calculated ideally flight time window is screened, obtained
That flight time window is flown to practicable, as shown in Figure 2.
Certain the unmanned plane parameter list of table 1
The solar energy unmanned plane energy production of table 2 estimates parameter list
Claims (5)
1. a kind of fixed-wing solar energy unmanned plane endurance method of estimation, comprises the following steps：
Step 1：Count solar energy unmanned plane energy production situation, i.e., solar energy unmanned plane each fly day energy production it is total
Amount；
Step 2：Calculate energy consumption status, the i.e. each flight D aily energy expenditure amount of aircraft；
Step 3：Based on energy balance criterion, the flight time window under ideal conditions is estimated；
Step 4：Consider actual battery capacity, flight time window is accurately estimated.
2. a kind of fixed-wing solar energy unmanned plane endurance method of estimation according to claim 1, described step one are specific
For：
Solar energy unmanned plane is obtained each to fly the energy production total amount E of dayuav：
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Wherein, ndayTo specify solar day day；t0Take 0, tf86400, t is taken to represent the time；PinRepresent the unmanned function of current solar energy
Amount production power, it is specially：
Pin=ηsolSPs(λ)
Wherein, Ps(λ) represents aerofoil unit area intensity of solar radiation when carriage angle is (ψ, θ, φ)；ηsolFor solar-electricity
Pond efficiency；S is wing area, Ps(λ) is specially：
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Wherein, IbThe direct solar radiation intensity being subject on unit level face is represented,I represents that solar radiation is normal
Number,I0Represent solar constant；τbRepresent direct projection optical depth；mrAir quality ratio is represented,B represents direct projection air quality index, b=1.219-0.043 τb-0.151τd-0.204τbτd；IdRepresent unit
The direct scattering strength of the sun being subject on horizontal plane,τdRepresent scattering optical depth；D represents scattering air quality
Index, d=0.202+0.852 τb-0.007τd-0.357τbτd；IhThe total solar radiation intensity being subject on unit level face is represented,
Ih=Ib sinαe+Id；αeRepresent sun altitude；λ is the incidence angle that sunshine enters Helios aerofoil；φ is the sun
Can unmanned machine rolling angle；ρrRepresent ground surface reflectance.
3. a kind of fixed-wing solar energy unmanned plane endurance method of estimation according to claim 1, described step two are specific
For：
Aircraft is obtained each to fly day [t0,tf] in the period, unmanned plane energy expenditure total amount Eout(t0,tf)：
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Wherein, PpropulFor power needed for electric propulsion system；PavPower is consumed for unmanned aerial vehicle onboard electronic equipment；PpldFor task
Power consumption needed for load；
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Wherein, ηpropFor propeller efficiency；ηmotMotor and reduction box power transfer efficiency；ηctrlDrive efficiency；V is flight speed
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<mo>=</mo>
<msub>
<mi>C</mi>
<msub>
<mi>L</mi>
<mn>0</mn>
</msub>
</msub>
<mo>+</mo>
<msub>
<mi>C</mi>
<msub>
<mi>L</mi>
<mi>&alpha;</mi>
</msub>
</msub>
<mi>&alpha;</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mn>2</mn>
<mi>m</mi>
<mi>g</mi>
</mrow>
<mrow>
<msup>
<mi>V</mi>
<mn>2</mn>
</msup>
<mi>&rho;</mi>
<mi>S</mi>
</mrow>
</mfrac>
</mrow>
Wherein, ρ,α is respectively atmospheric density, zero lift coefficient, lift coefficient and the angle of attack caused by the angle of attack；m
For Aircraft Quality；G is acceleration of gravity；CDFor resistance coefficient；For zero-lift drag coefficient；K is aerodynamic coefficient；RaFor exhibition
String ratio；ε is Oswald efficiency factors；CLFor lift coefficient.
4. a kind of fixed-wing solar energy unmanned plane endurance method of estimation according to claim 1, described step three are specific
For：
Ideally, solar energy unmanned plane energy meets：
Euav≥Epropul+Eav+Epld (27)
Wherein, EuavFor unmanned plane production energy；
Solar energy unmanned plane endurance is defined as completing the flight day for passing through flight round the clock set in 1 year, it is assumed that flight locations select
Somewhere on the Northern Hemisphere, flight day ndayValue isWhen, since January 1, January 1 be 1, solar energy nobody
Machine is flown round the clock, that is, meets formula (27), andFor non-stop flight day, thenAs estimate roughly
The flight time window of meter, i.e. solar energy unmanned plane endurance, when flight locations are selected in the Southern Hemisphere, its progress takes the day of flight round the clock
Value form isWith
5. a kind of fixed-wing solar energy unmanned plane endurance method of estimation according to claim 1, described step four are specific
For：
Except meeting formula for entrepreneurship (27), unmanned plane energy storage capability judgment criterion such as formula (28)：
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Wherein,Power and consumption power-balance moment are produced for the solar energy unmanned plane morning,For solar energy unmanned plane afternoon
Produce power and consumption power-balance moment, EbatFor battery contained energy total value, unit watt-hour, calculated by formula (29)：
Ebat=CbatUbat (29)
Wherein, CbatFor energy-storage battery capacity, unit ampere-hour, UbatFor energy-storage battery nominal voltage, formula (29) is substituted into, formula (28)
It is organized into as follows
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<msub>
<mi>C</mi>
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<mrow>
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<mn>30</mn>
<mo>)</mo>
</mrow>
</mrow>
Then, using formula (30), to the flight time window ideally obtained by step 3In all datesScreened, obtained new across non-stop flight day round the clockThe set of compositionAs practicable flight time window.
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