CN112572824B - Power configuration method and device for heavy-duty unmanned aerial vehicle - Google Patents
Power configuration method and device for heavy-duty unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a power configuration method and a device of a heavy-duty unmanned aerial vehicle, which comprises the steps of firstly measuring dynamic energy consumption data corresponding to the variation of each energy consumption related component of the variable-load unmanned aerial vehicle along with the motor tension under the designed alternative power configuration, establishing corresponding energy consumption relational expressions of a plurality of motor tensions and unmanned aerial vehicle components, then jointly establishing a endurance time output model of the unmanned aerial vehicle under the variable-load state by combining the static energy consumption in the working process of the unmanned aerial vehicle, and drawing a model output image; the model output image is divided into a plurality of regions, the area ratio of each region in the curved surface is changed through different power configuration schemes, so that the overall performance characteristics of the unmanned aerial vehicle are adjusted according to actual operation requirements, and meanwhile, the optimal battery and operation load configuration is selected according to actual operation requirements. The invention can provide effective reference for the optimal performance configuration of the unmanned aerial vehicle in the design and manufacturing process.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle energy consumption research, and particularly relates to a power configuration method and device for a heavy-duty unmanned aerial vehicle.
Background
In recent years, with the rapid development of technologies such as lightweight high-strength materials, high-energy density batteries and high-precision satellite navigation, the comprehensive performance of the unmanned aerial vehicle is continuously improved, the unmanned aerial vehicle is widely applied in multiple industry fields, the operation cost is effectively reduced, and the operation efficiency is improved. Especially in the agricultural plant protection field, along with the high-speed development of plant protection unmanned aerial vehicle, equipment sales volume rises year by year, and the operating area keeps increasing substantially. However, at the same time, the performance short board of the unmanned aerial vehicle is also exposed, and the application space of the unmanned aerial vehicle is limited to a certain extent due to the problems of weak load capacity and short endurance time of the unmanned aerial vehicle caused by the current technical development level.
At present, the development of power battery and brushless motor technologies is not yet in breakthrough progress, the energy consumption change rule of the unmanned aerial vehicle in the flying process is researched, and finding out the optimal configuration of the unmanned aerial vehicle under different operating conditions becomes a main method for improving the comprehensive performance of the unmanned aerial vehicle and improving the operating efficiency and the application range of the unmanned aerial vehicle. Therefore, how to accurately and effectively find out the optimal configuration of the unmanned aerial vehicle under different operating conditions is the current focus research direction.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a power configuration method of a heavy-duty unmanned aerial vehicle, which can provide effective reference for selection of relevant parameters in the design, production and practical application processes of the unmanned aerial vehicle and provide technical support for efficient operation of long-endurance/large-load unmanned aerial vehicles.
The second purpose of the invention is to provide a power configuration device of a heavy-duty unmanned aerial vehicle.
In order to achieve the first purpose, the invention adopts the following technical scheme: a power configuration method of a heavy-duty unmanned aerial vehicle comprises the following steps:
s1, selecting the model of the frame of the unmanned aerial vehicle according to the research and development target, and giving a pre-estimated takeoff weight interval of the unmanned aerial vehicle, thereby designing a plurality of alternative power configuration schemes;
s2, for each alternative power configuration scheme, determining energy consumption data of the dynamic energy consumption module in the unmanned aerial vehicle, which changes along with the change of the motor tension, in the corresponding alternative power configuration through experiments, establishing a corresponding functional relation expression, and determining energy consumption data of the static energy consumption module in the unmanned aerial vehicle in the corresponding alternative power configuration through experiments;
s3, for each alternative power configuration scheme, according to the relational expression of the dynamic energy consumption of the unmanned aerial vehicle and the motor tension and static energy consumption data, taking the weight of a battery and the weight of a load as input, taking the duration as output, establishing a duration output model of the unmanned aerial vehicle with a variable load under the corresponding alternative power configuration, and drawing a model output image for representing the duration of the unmanned aerial vehicle under the given power configuration;
s4, comparing the model output images of different alternative power configuration schemes, and selecting the model output image with the maximum unmanned aerial vehicle endurance time from the model output images;
s5, dividing the selected model output image into a plurality of areas, and adapting the battery weight and load weight parameters corresponding to different areas to different working environments;
s6, selecting an area according to the actual operation requirement of the unmanned aerial vehicle, and obtaining the optimal power configuration of the unmanned aerial vehicle meeting the actual operation requirement.
Preferably, in step S1, the design of the alternative power configuration scheme is specifically: according to the application scene of the pre-ground unmanned aerial vehicle, an expected takeoff weight interval is given, and then the motor model, the matched electric regulation model and the blade specification of which the tension parameters conform to the expected takeoff weight interval are selected.
Preferably, the dynamic energy consumption module comprises a motor, an electric regulator, a paddle, a distribution board circuit and power measurement equipment.
Preferably, the static energy consumption module comprises a flight control.
Preferably, the model output image is a three-dimensional curved surface image, and the three-dimensional curved surface in the image visually reflects the variation trend of the endurance time under various input parameters and the position of the maximum endurance time in each area.
Further, in step S5, the model outputs the division of the image, specifically, each contour of the three-dimensional curved surface is used as the division boundary of each region, so that the whole curved surface image is divided into the region 1, the region 2, and the region n, and as the region index value increases, the cruising ability of the corresponding configuration of the region gradually increases, and the load capacity gradually decreases.
Preferably, in step S6, the optimal power configuration of the unmanned aerial vehicle includes selection of a power configuration scheme of the unmanned aerial vehicle, and matching of specifications of a power battery and a working load weight, wherein the power configuration scheme of the unmanned aerial vehicle specifically refers to a motor model, a matched electrically-regulated model and a blade specification.
Preferably, under the condition that the maximum bearing capacity of the self structure of the frame is not considered, the maximum value of the sum of the two input parameters of the endurance time output model is the maximum total tension of the motor of the unmanned aerial vehicle measured in the step S2 multiplied by the safe tension coefficient; and the actual output value of the endurance time output model is the endurance time output value of the unmanned aerial vehicle in the hovering state.
Further, the reference value of the safe tension coefficient is 0.8.
In order to achieve the second object, the invention adopts the following technical scheme: a power configuration arrangement for a heavy-duty drone, comprising:
the alternative power configuration scheme design module is used for selecting the model of the frame of the unmanned aerial vehicle according to a research and development target, providing a pre-estimated takeoff weight interval of the unmanned aerial vehicle, and designing a plurality of alternative power configuration schemes;
the dynamic energy consumption acquisition module is used for acquiring energy consumption data of the dynamic energy consumption module in the unmanned aerial vehicle, which is determined by experiments under each alternative power configuration scheme and changes along with the change of the motor tension, and establishing a corresponding functional relation expression;
the static energy consumption acquisition module is used for acquiring energy consumption data of the static energy consumption module in the unmanned aerial vehicle under each alternative power configuration scheme determined through experiments;
the model construction and image drawing module is used for establishing a endurance time output model of the variable-load unmanned aerial vehicle under the corresponding alternative power configuration according to a relational expression of the dynamic energy consumption of the unmanned aerial vehicle and the motor tension and static energy consumption data, taking the weight of a battery and the weight of a load as input and the endurance time as output aiming at each alternative power configuration scheme, and drawing a model output image for representing the endurance time of the unmanned aerial vehicle under the given power configuration;
the image selection module is used for comparing model output images of different alternative power configuration schemes and selecting the model output image with the maximum unmanned aerial vehicle endurance time from the model output images;
the region dividing module is used for dividing the selected model output image into a plurality of regions, and battery weight and load weight parameters corresponding to different regions are adapted to different working environments;
and the optimal power configuration selection module is used for selecting an area according to the actual operation requirement of the unmanned aerial vehicle so as to obtain the optimal power configuration of the unmanned aerial vehicle meeting the actual operation requirement.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention provides a power configuration method of a heavy-duty unmanned aerial vehicle, which can establish a plurality of endurance time output models with alternative configuration schemes and draw a model output curved surface in the process of designing and manufacturing the unmanned aerial vehicle. Through the comparison of each curved surface, the optimal configuration scheme under the specific operation requirement is selected, effective reference can be provided for the selection of relevant parameters in the design production and practical application processes of the unmanned aerial vehicle, the overall performance of the unmanned aerial vehicle is favorably improved, the energy utilization efficiency is optimized, and the extra loss is reduced.
2. The invention establishes the endurance time output model of the unmanned aerial vehicle, can calculate the endurance time of the variable-load unmanned aerial vehicle under the given configuration under different battery configurations and operation loads according to the model, can provide the optimal parameter setting for the practical application of the unmanned aerial vehicle according to different requirements, and effectively improves the operation efficiency of the unmanned aerial vehicle.
3. The invention provides a contour line partitioning method for an output curved surface of a endurance model, which evaluates the comprehensive performance characteristics of an unmanned aerial vehicle through the area occupation ratio of each region according to the region partitioning result and selects the operation application range of the unmanned aerial vehicle.
Drawings
Fig. 1 is a flow chart of a power configuration method of a heavy-duty unmanned aerial vehicle according to the invention.
Fig. 2(a) is a three-dimensional curved surface diagram.
Fig. 2(b) is a three-dimensional curved surface region distribution diagram.
Fig. 3 is a block diagram of the power configuration device of the heavy-duty unmanned aerial vehicle.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
The invention establishes a endurance time output model of the unmanned aerial vehicle under a variable load state, draws a endurance time three-dimensional curved surface of the model under the influence of battery weight and load weight, and obtains the maximum endurance time point of the unmanned aerial vehicle and the corresponding configuration thereof according to the structural change characteristics of a graph; divide unmanned aerial vehicle's duration output curved surface into a plurality of regions, through the power configuration scheme of difference, change the distribution characteristics in each region in the curved surface for unmanned aerial vehicle overall performance characteristics adjusts according to actual operation requirement, selects best battery and operation load configuration simultaneously according to unmanned aerial vehicle's working characteristics. The invention can provide effective reference for the configuration of the optimal performance of the unmanned aerial vehicle in the design and manufacturing process of the unmanned aerial vehicle, and in practical application, the optimal configuration of the battery and the operation load of the unmanned aerial vehicle is obtained according to the working requirement, so that the overall performance and the actual operation efficiency of the unmanned aerial vehicle are effectively improved.
Example 1
The embodiment discloses a power configuration method of a heavy-duty unmanned aerial vehicle, which is characterized by comprising the following steps of:
s1, selecting the model of the unmanned aerial vehicle according to the research and development target, and giving the estimated takeoff weight interval of the unmanned aerial vehicle, thereby designing a plurality of alternative power configuration schemes.
Here, in the design of the alternative power configuration scheme, an expected takeoff weight interval needs to be given in advance according to application scenes of the pre-researched unmanned aerial vehicle, and then the motor model, the matched electrically-controlled model and the blade specification of which the tension parameters conform to the expected takeoff weight interval are selected. For example, when the unmanned aerial vehicle is a plant protection unmanned aerial vehicle in the agricultural field, the effective operation load of the unmanned aerial vehicle is required to reach 10kg, the standard operation takeoff mass is about 18-22 kg, the maximum pulling force of a required single motor is about 8-10 kg, and the size of a blade is about 32-36 inches.
S2, randomly selecting one alternative power configuration scheme, determining energy consumption data of the dynamic energy consumption module in the unmanned aerial vehicle under the alternative power configuration, which changes along with the change of the motor tension, through experiments, establishing a corresponding functional relation expression about the dynamic energy consumption and the motor tension, and determining energy consumption data of the static energy consumption module in the unmanned aerial vehicle under the corresponding alternative power configuration through experiments. Similarly, the functional relation expression of the dynamic energy consumption and the motor tension of other alternative power configuration schemes and static energy consumption data are obtained through measurement.
The dynamic energy consumption module of the unmanned aerial vehicle specifically comprises a motor, an electric controller, blades, a distribution board circuit and power measurement equipment. The power measuring equipment can be a miniaturized power meter additionally arranged in the unmanned aerial vehicle and directly connected with the power battery output end of the unmanned aerial vehicle. The static energy consumption module specifically comprises a flight control module and other unmanned aerial vehicle working components which are not connected with the main circuit.
And S3, for each alternative power configuration scheme, according to the relational expression of the dynamic energy consumption of the unmanned aerial vehicle and the motor tension and the static energy consumption data, taking the weight of the battery and the weight of the load as input, taking the duration as output, establishing a duration output model of the unmanned aerial vehicle with the variable load under the corresponding alternative power configuration, and drawing a model output image for representing the duration of the unmanned aerial vehicle under the given power configuration.
This embodiment is specifically modeled using the simulink simulation tool of matlab. Under the condition of not considering the maximum bearing capacity of the self structure of the frame, the maximum value of the sum of two input parameters (namely the weight of the battery and the weight of the load) of the endurance output model is the maximum total tension of the motor of the unmanned aerial vehicle measured in the step S2 multiplied by the safe tension coefficient. And the actual output value of the endurance time output model is the endurance time output value of the unmanned aerial vehicle in the hovering state. Here, the reference value of the safe tension coefficient is 0.8, and the size of the safe tension coefficient can be selected according to the actual working environment, for example, the structural strength of the lightweight frame is poor, the bearing capacity of the body is weak, and the selection of the corresponding safe tension coefficient can be reduced moderately.
As shown in fig. 2(a), the model output image is a three-dimensional curved surface image, and the darker the color in fig. 2(a), the shorter the cruising time. Therefore, the three-dimensional curved surface can intuitively reflect the variation trend of the endurance time under various input parameters.
And S4, comparing the model output images of different alternative power configuration schemes, and selecting the model output image with the maximum unmanned aerial vehicle endurance time from the model output images.
And S5, dividing the selected model output image into a plurality of regions by taking each contour line of the three-dimensional curved surface as a dividing boundary of each region, wherein the area between every two adjacent contour lines is classified into one region, and the whole curved surface image is divided into a region 1, a region 2 and a region n. Along with the increase of the label value of the area, namely the higher the endurance time value represented by the contour line is, the endurance capacity under the corresponding configuration of the area is gradually enhanced, the load capacity is gradually weakened, and the battery weight and the load weight parameters corresponding to different areas are adapted to different working environments.
As shown in fig. 2(b) which is a distribution diagram of a curved surface area of endurance time, when viewed from left to right, the endurance capacity of the unmanned aerial vehicle corresponding to the area in fig. 2(b) is gradually increased, and the load capacity is gradually decreased. The position of the maximum endurance time in each area can be intuitively reflected by the curved surface. Between the model output image under different power configurations, the ratio of each regional area and the maximum value in each region are different, and correspondingly, unmanned aerial vehicle's overall performance is also different.
S6, selecting a proper area according to the actual operation requirement of the unmanned aerial vehicle, and obtaining the optimal power configuration of the unmanned aerial vehicle meeting the actual operation requirement, namely determining the power configuration scheme (motor model, matched electrically-regulated model and blade specification) of the unmanned aerial vehicle, and matching the power battery specification and the operation load weight.
In summary, when the power configuration scheme is changed, the shape of the three-dimensional curved surface of the whole endurance time changes correspondingly, and the division boundary of the regions, namely the contour line on the curved surface, changes correspondingly with the change of the shape of the curved surface, so that the area ratio of each region changes, therefore, research and development personnel can change the area ratio of each region in the curved surface through different power configuration schemes to adjust the overall performance characteristics of the unmanned aerial vehicle, and thus, the optimal power configuration, battery and operation load configuration of the unmanned aerial vehicle can be selected according to actual operation requirements.
Example 2
The embodiment discloses a power configuration device of a heavy-duty unmanned aerial vehicle, which can implement the power configuration method of the heavy-duty unmanned aerial vehicle described in embodiment 1, as shown in fig. 3, the power configuration device includes:
the alternative power configuration scheme design module is used for selecting the model of the frame of the unmanned aerial vehicle according to a research and development target, providing a pre-estimated takeoff weight interval of the unmanned aerial vehicle, and designing a plurality of alternative power configuration schemes;
the dynamic energy consumption acquisition module is used for acquiring energy consumption data of the dynamic energy consumption module in the unmanned aerial vehicle, which is determined by experiments under each alternative power configuration scheme and changes along with the change of the motor tension, and establishing a corresponding functional relation expression;
the static energy consumption acquisition module is used for acquiring energy consumption data of the static energy consumption module in the unmanned aerial vehicle under each alternative power configuration scheme determined through experiments;
the model construction and image drawing module is used for establishing a endurance time output model of the variable-load unmanned aerial vehicle under the corresponding alternative power configuration according to a relational expression of the dynamic energy consumption of the unmanned aerial vehicle and the motor tension and static energy consumption data, taking the weight of a battery and the weight of a load as input and the endurance time as output aiming at each alternative power configuration scheme, and drawing a model output image for representing the endurance time of the unmanned aerial vehicle under the given power configuration;
the image selection module is used for comparing model output images of different alternative power configuration schemes and selecting the model output image with the maximum unmanned aerial vehicle endurance time from the model output images;
the region dividing module is used for dividing the selected model output image into a plurality of regions, and battery weight and load weight parameters corresponding to different regions are adapted to different working environments;
and the optimal power configuration selection module is used for selecting an area according to the actual operation requirement of the unmanned aerial vehicle so as to obtain the optimal power configuration of the unmanned aerial vehicle meeting the actual operation requirement.
It should be noted that, the apparatus of this embodiment is only exemplified by the division of the above functional modules, and in practical applications, the above functions may be distributed by different functional modules as needed, that is, the internal structure may be divided into different functional modules to complete all or part of the above described functions.
It should also be noted that in this specification, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A power configuration method of a heavy-duty unmanned aerial vehicle is characterized by comprising the following steps:
s1, selecting the model of the frame of the unmanned aerial vehicle according to the research and development target, and giving a pre-estimated takeoff weight interval of the unmanned aerial vehicle, thereby designing a plurality of alternative power configuration schemes;
s2, for each alternative power configuration scheme, determining energy consumption data of the dynamic energy consumption module in the unmanned aerial vehicle, which changes along with the change of the motor tension, in the corresponding alternative power configuration through experiments, establishing a corresponding functional relation expression, and determining energy consumption data of the static energy consumption module in the unmanned aerial vehicle in the corresponding alternative power configuration through experiments;
s3, for each alternative power configuration scheme, according to the relational expression of the dynamic energy consumption of the unmanned aerial vehicle and the motor tension and static energy consumption data, taking the weight of a battery and the weight of a load as input, taking the duration as output, establishing a duration output model of the unmanned aerial vehicle with a variable load under the corresponding alternative power configuration, and drawing a model output image for representing the duration of the unmanned aerial vehicle under the given power configuration;
s4, comparing the model output images of different alternative power configuration schemes, and selecting the model output image with the maximum unmanned aerial vehicle endurance time from the model output images;
s5, dividing the selected model output image into a plurality of areas, and adapting the battery weight and load weight parameters corresponding to different areas to different working environments;
s6, selecting an area according to the actual operation requirement of the unmanned aerial vehicle, and obtaining the optimal power configuration of the unmanned aerial vehicle meeting the actual operation requirement.
2. The power configuration method of a heavy-duty unmanned aerial vehicle according to claim 1, wherein in step S1, the alternative power configuration scheme is designed by: according to the application scene of the pre-ground unmanned aerial vehicle, an expected takeoff weight interval is given, and then the motor model, the matched electric regulation model and the blade specification of which the tension parameters conform to the expected takeoff weight interval are selected.
3. The method of claim 1, wherein the dynamic energy consumption module comprises a motor, an electronic governor, a blade, a distributor circuit, and a power measurement device.
4. The method of claim 1, wherein the static energy consumption module comprises flight controls.
5. The power configuration method for the heavy-duty unmanned aerial vehicle according to claim 1, wherein the model output image is a three-dimensional curved surface image, and the three-dimensional curved surface in the image visually reflects the variation trend of the endurance time under various input parameters and the position of the maximum endurance time in each region.
6. The power configuration method of a heavy-duty unmanned aerial vehicle according to claim 5, wherein in step S5, the model outputs image division, specifically, each contour line of the three-dimensional curved surface is used as a boundary for dividing each region, thereby dividing the whole curved surface image into a region 1, a region 2, a region 1, a region n, and the cruising ability of the corresponding configuration of the region is gradually increased and the load capacity is gradually reduced as the region label value is increased.
7. The power configuration method of a heavy-duty unmanned aerial vehicle according to claim 1, wherein in step S6, the optimal power configuration of the unmanned aerial vehicle includes selection of a power configuration scheme of the unmanned aerial vehicle, and matching of specifications of a power battery and a working load weight, and the power configuration scheme of the unmanned aerial vehicle specifically includes a motor model, a matched electrically-regulated model and a blade specification.
8. The power configuration method for a heavy-duty unmanned aerial vehicle according to claim 1, wherein the maximum value of the sum of the two input parameters of the endurance output model is the maximum total tension of the motor of the unmanned aerial vehicle determined in step S2 multiplied by the safe tension coefficient, without considering the maximum bearing capacity of the frame structure; and the actual output value of the endurance time output model is the endurance time output value of the unmanned aerial vehicle in the hovering state.
9. The power configuration method for a heavy-duty unmanned aerial vehicle according to claim 8, wherein the reference value of the safe tension coefficient is 0.8.
10. A power configuration device of heavy-duty unmanned aerial vehicle, comprising:
the alternative power configuration scheme design module is used for selecting the model of the frame of the unmanned aerial vehicle according to a research and development target, providing a pre-estimated takeoff weight interval of the unmanned aerial vehicle, and designing a plurality of alternative power configuration schemes;
the dynamic energy consumption acquisition module is used for acquiring energy consumption data of the dynamic energy consumption module in the unmanned aerial vehicle, which is determined by experiments under each alternative power configuration scheme and changes along with the change of the motor tension, and establishing a corresponding functional relation expression;
the static energy consumption acquisition module is used for acquiring energy consumption data of the static energy consumption module in the unmanned aerial vehicle under each alternative power configuration scheme determined through experiments;
the model construction and image drawing module is used for establishing a endurance time output model of the variable-load unmanned aerial vehicle under the corresponding alternative power configuration according to a relational expression of the dynamic energy consumption of the unmanned aerial vehicle and the motor tension and static energy consumption data, taking the weight of a battery and the weight of a load as input and the endurance time as output aiming at each alternative power configuration scheme, and drawing a model output image for representing the endurance time of the unmanned aerial vehicle under the given power configuration;
the image selection module is used for comparing model output images of different alternative power configuration schemes and selecting the model output image with the maximum unmanned aerial vehicle endurance time from the model output images;
the region dividing module is used for dividing the selected model output image into a plurality of regions, and battery weight and load weight parameters corresponding to different regions are adapted to different working environments;
and the optimal power configuration selection module is used for selecting an area according to the actual operation requirement of the unmanned aerial vehicle so as to obtain the optimal power configuration of the unmanned aerial vehicle meeting the actual operation requirement.
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