CN113682479A - Electric unmanned aerial vehicle combined power supply device, method and system - Google Patents
Electric unmanned aerial vehicle combined power supply device, method and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
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- B64D27/026—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/345—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering using capacitors as storage or buffering devices
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
Abstract
The invention discloses a combined power supply device, method and system for an electric unmanned aerial vehicle. The method comprises the following steps: acquiring a power demand signal of the unmanned aerial vehicle; judging whether the required power is greater than the rated output power of the metal-air battery according to the power demand signal to obtain a first judgment result; if the first judgment result shows that the current is positive, acquiring the residual electric quantity of the super capacitor; judging whether the residual electric quantity of the super capacitor is larger than the lowest threshold value of the electric quantity of the capacitor to obtain a second judgment result; if the second judgment result shows that the current is positive, sending a control signal for controlling the discharge of the super capacitor to the super capacitor charge management module; if the second judgment result shows that the power is insufficient, sending out a power shortage warning signal; and if the first judgment result shows that the power is not the first judgment result, controlling the metal-air battery to output power according to the power demand signal. The combined power supply device, the method and the system for the electric unmanned aerial vehicle can meet the requirement of instantaneous high power of the unmanned aerial vehicle.
Description
The application is a divisional application of a patent application named as 'a combined power supply device, method and system for an electric unmanned aerial vehicle', the application date of the original application is 2019, 04, 12 and the application number is 201910293309.7.
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a combined power supply device, method and system for an electric unmanned aerial vehicle.
Background
Unmanned aerial vehicles have been developed for centuries and are widely applied to military and civil fields. The military unmanned aerial vehicle changes the traditional combat mode and changes four functions of relay communication, information collection, electronic countermeasure and air attack; the civil unmanned aerial vehicle also plays a significant role in the fields of agriculture and forestry plant protection, electric power inspection, fire fighting and disaster relief, meteorological monitoring, parcel dispatching and the like. Unmanned aerial vehicles, which are reusable unmanned spacecrafts controlled by radio equipment or programs, can be classified into fixed-wing, rotor wing, umbrella wing, flapping wing, helicopter, unmanned airship and other types according to the configuration of a flight platform. The electric multi-rotor unmanned aerial vehicle has become a hot point of domestic and foreign research due to the advantages of simple operation, low cost, high maneuverability and the like. However, the multi-rotor unmanned aerial vehicle adopting the traditional lithium battery as power has the endurance time generally not exceeding half an hour, so that the further development of the unmanned aerial vehicle is limited, and the problem of short endurance time is urgently needed to be solved.
In the field of aerospace, novel energy sources such as hydrogen-oxygen fuel cells and solar cells have started to replace traditional fuel oil and gas, and new energy aircrafts have become an important trend for future development. Oxyhydrogen fuel cell unmanned aerial vehicle adopts hydrogen as fuel, directly turns into the electric energy with the chemical energy of hydrogen, for unmanned aerial vehicle flight provides the energy, and the reaction process does not receive carnot endless restriction, therefore the conversion efficiency is high, and has advantages such as zero pollution, energy density are big. Because the required hydrogen of oxyhydrogen fuel cell carries the hydrogen storage tank, it is bulky, the hydrogen storage volume is few, the continuation of the journey mileage is short, and oxyhydrogen fuel cell dynamic behavior is softer simultaneously, is difficult to satisfy the great instantaneous power that unmanned aerial vehicle needs under operating conditions such as anti-turbulence, transform attitude of flight needs.
Disclosure of Invention
The invention aims to provide a combined power supply device, method and system for an electric unmanned aerial vehicle, which meet the requirement of instantaneous high power of the unmanned aerial vehicle.
In order to achieve the purpose, the invention provides the following scheme:
an electric unmanned aerial vehicle combination power supply unit includes: the device comprises a metal air battery, a super capacitor, a signal detection module, a metal air battery control module, a super capacitor charging management module, a combined power supply controller and a parallel flow device;
the electric energy output ends of the metal air battery and the super capacitor are connected with the electric energy input end of the current combiner;
the electric energy output end of the current combiner is connected with the electric energy input end of the unmanned aerial vehicle load;
the control input end of the metal-air battery is connected with the control output end of the metal-air battery control module, and the control output end of the super capacitor charging management module is connected with the control input end of the super capacitor;
the signal input end of the signal detection module is respectively connected with the metal-air battery and the super capacitor; the signal output end of the signal detection module is connected with the signal input end of the combined power supply controller; the signal input end of the combined power supply controller is also connected with the signal output end of the unmanned aerial vehicle flight control system and used for acquiring a power demand signal sent by the unmanned aerial vehicle flight control system; the control output end of the combined power supply controller is connected with the control input ends of the metal-air battery control module and the super capacitor charging management module;
the combined power supply controller is used for sending a power shortage signal to the super capacitor charging management module when the required power exceeds the rated output power of the metal-air battery; the super capacitor charging management module controls the super capacitor to discharge supplementary power when receiving the power shortage signal; the current combiner is used for carrying out parallel current on the electric energy output by the metal air battery and the electric energy output by the super capacitor;
a parallel flow model is arranged in the combined power supply controller, the parallel flow model respectively controls the output power of the metal air battery and the output power of the super capacitor in real time through a parallel flow device, and the metal air battery is charged for the safe current of the super capacitor through a super capacitor charging management module;
the power supply control of the combined power supply controller on the metal air battery and the super capacitor adopts a fuzzy control method, the fuzzy control method is to reasonably distribute the required power of the unmanned aerial vehicle load between the metal air battery and the super capacitor, and the power ratio K of the metal air battery power in the required power of the unmanned aerial vehicle loadMetalAs an output result of the fuzzy control, the expression is as follows:
KMetal＝PMetal/Preq
PMetal＝Preq·KMetal
Pscap＝Preq(1-KMetal)
determining that the input of the fuzzy logic control is the unmanned aerial vehicle load demand power PreqAnd state of charge SOC of metal-air batteryMetalAnd super capacitor state of charge SOCscap(ii) a The state of charge SOC constraints for metal-air batteries and supercapacitors are as follows:
SOCMetal_max(80％)≥SOCMetal≥SOCMetal_min(20％)
SOCscap_max(80％)≥SOCscap≥SOCscap(20％)。
optionally, the combined power controller communicates with the unmanned aerial vehicle flight control system through a CAN bus.
Optionally, the combined power supply controller is connected with the upper computer and the remote controller through wireless communication.
Optionally, the device monitors the working states of the metal-air battery and the super capacitor in real time, and the monitoring information includes the current, the voltage, the temperature of the stack, the state of charge of the metal-air battery, and the current, the voltage and the state of charge of the super capacitor.
Optionally, the metal-air battery is an aluminum-air battery, a magnesium-air battery, a lithium-air battery, or a zinc-air battery.
Optionally, the super capacitor is 2500F/2.7V super capacitor.
In order to achieve the above object, the present invention further provides a combined power supply method for an electric unmanned aerial vehicle, which is applied to the combined power supply device for an electric unmanned aerial vehicle, and the combined power supply method includes: acquiring a power demand signal of the unmanned aerial vehicle;
judging whether the required power is greater than the rated output power of the metal-air battery according to the power demand signal to obtain a first judgment result;
if the first judgment result shows that the current is positive, acquiring the residual electric quantity of the super capacitor;
judging whether the residual electric quantity of the super capacitor is larger than the lowest threshold value of the electric quantity of the capacitor to obtain a second judgment result;
if the second judgment result shows that the current is positive, sending a control signal for controlling the discharge of the super capacitor to a super capacitor charge management module;
if the second judgment result shows that the power is insufficient, sending out a power shortage warning signal;
and if the first judgment result shows that the power demand signal is not met, controlling the metal-air battery to output power according to the power demand signal.
Optionally, the controlling the metal-air battery to output power according to the power demand signal specifically includes: judging whether the residual electric quantity of the metal-air battery is larger than a battery electric quantity minimum threshold value or not to obtain a third judgment result;
if the third judgment result shows that the power is insufficient, sending out an electricity shortage warning signal, and sending out a request for reducing the required power to the unmanned aerial vehicle flight control system;
if the third judgment result shows that the difference value between the rated output power and the required power is greater than the lowest preset difference value, judging whether the difference value between the rated output power and the required power is greater than the lowest preset difference value according to the power requirement signal to obtain a fourth judgment result;
and if the fourth judgment result shows that the output electric quantity of the metal-air battery is the same as the output electric quantity of the super capacitor, processing the redundant part of the output electric quantity of the metal-air battery according to the residual electric quantity of the super capacitor.
Optionally, after the sending the power shortage warning signal, the method further includes: and sending a request for reducing the required power to the unmanned aerial vehicle flight control system.
Optionally, the processing the redundant part of the output power of the metal-air battery according to the remaining power of the super capacitor specifically includes: judging whether the residual electric quantity of the super capacitor is larger than the highest threshold value of the electric quantity of the capacitor or not to obtain a fifth judgment result;
and if the fifth judgment result shows that the electric quantity is not the same as the electric quantity output by the metal-air battery, controlling a super capacitor charging management module to charge the super capacitor with the redundant part of the output electric quantity of the metal-air battery.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: according to the combined power supply device, method and system for the electric unmanned aerial vehicle, disclosed by the invention, when the unmanned aerial vehicle has the requirement of instantaneous high power, the instantaneous output power is improved by discharging the super capacitor, so that the requirement of instantaneous high power of the unmanned aerial vehicle is met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a system configuration diagram of an electric drone of the present invention;
fig. 2 is a structural view of a combined power supply device of embodiment 1 of the present invention;
fig. 3 is a flowchart of the operation of the combined power supply apparatus according to embodiment 1 of the present invention;
fig. 4 is a flowchart of a method of a combined power supply method for an electric unmanned aerial vehicle according to embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The metal air battery is used as a main power supply to provide main power for the unmanned aerial vehicle, but the metal air battery is soft in characteristic and cannot provide high-power requirements for the unmanned aerial vehicle load under the conditions of instant starting, rapid climbing, sudden strong wind and the like, so that an auxiliary power supply needs to be configured. The auxiliary power supply can provide the required high power of unmanned aerial vehicle in the short time, also can charge the auxiliary power supply by metal air battery under the not high condition of load demand power, guarantees that the battery electric quantity is in the settlement within range.
Therefore, the invention provides a combined power supply system of a metal-air battery and a super capacitor, and the combined power supply system can keep long-distance flight and adapt to complex environment flight by matching the metal-air battery with the super capacitor, which has the advantages of large energy density, long endurance, no need of an air storage tank, small occupied space, large power density of the super capacitor and strong climbing and accelerating capabilities.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1:
fig. 1 is a system configuration diagram of an electric drone according to the present invention.
Referring to fig. 1, the electric drone to which the present invention is directed is a multi-rotor drone. This many rotor unmanned aerial vehicle comprises driving system, flight control system (being flight control system), fuselage system, data transmission equipment, airborne equipment and remote controller.
(1) Power system
The main effect of many rotor unmanned aerial vehicle driving system is for unmanned aerial vehicle's flight provides power, mainly includes motor, electronic governor, screw and battery four parts. Wherein, the motor is responsible for converting the electric energy into mechanical energy, and present unmanned aerial vehicle motor is mainly with brushless DC motor. The electronic speed regulator is generally called as an electronic governor and is responsible for quickly converting a control signal of a flight control system into armature voltage and current so as to control the rotating speed of a motor. The propeller is a component directly generating thrust, and the rotating direction is divided into a positive direction and a negative direction. The battery is many rotor unmanned aerial vehicle's energy source, and the important indexes such as time of endurance, flight distance and maximum load weight that directly relate to unmanned aerial vehicle.
(2) Flight control system
The flight control system is a system capable of stabilizing the flight attitude of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to fly autonomously or semi-autonomously, and is a control center of the unmanned aerial vehicle. The flight control system comprises two parts, namely hardware and software, wherein the hardware part comprises a gyroscope, an acceleration sensor, a GPS module, a circuit control board and the like; the software modules include control algorithms, programs, and the like.
(3) Fuselage system
The fuselage system includes a frame and landing gears. Wherein, the frame is many rotor unmanned aerial vehicle's main part, and a lot of equipment fixing can be divided into three rotors, four rotors, six rotors, eight rotors, sixteen rotors etc. according to horn number difference in the frame. The landing gear is the only part of unmanned aerial vehicle and ground contact, as the buffering of complete machine when taking off and landing.
(4) Data transmission apparatus
The data transmission equipment is responsible for stably transmitting various data such as pictures, videos and the like acquired by the unmanned aerial vehicle to the ground receiving system in real time.
(5) Airborne equipment
Many rotor unmanned aerial vehicle can carry on different equipment and carry out work according to the difference of task, like pesticide spraying apparatus, aerial photography camera, survey and drawing laser radar, life saving equipment etc..
(7) Remote controller
The remote controller is used for controlling unmanned aerial vehicle in real time, can monitor unmanned aerial vehicle's each item state index, generally divide into six passageways, eight passageways, twelve passageways etc. with the remote controller according to the passageway.
The invention replaces the battery in the power system with the combined power supply device. Fig. 2 is a structural diagram of a combined power supply device according to embodiment 1 of the present invention.
Referring to fig. 2, the combined power supply apparatus includes: the device comprises a metal-air battery 1, a super capacitor 2, a signal detection module 3, a metal-air battery control module 4, a super capacitor charging management module 5, a combined power supply controller 6 and a parallel flow device 7;
the electric energy output ends of the metal air battery 1 and the super capacitor 2 are connected with the electric energy input end of the current combiner 7; the electric energy output end of the current combiner 7 is connected with the electric energy input end of the unmanned aerial vehicle load 8;
the control input end of the metal-air battery 1 is connected with the control output end of the metal-air battery control module 4, and the control output end of the super capacitor charging management module 5 is connected with the control input end of the super capacitor 2;
the signal input end of the signal detection module 3 is respectively connected with the metal-air battery 1 and the super capacitor 2; the signal output end of the signal detection module 3 is connected with the signal input end of the combined power supply controller 6; the signal input end of the combined power supply controller 6 is also connected with the signal output end of the unmanned aerial vehicle flight control system 9 through a CAN bus and is used for acquiring a power demand signal sent by the unmanned aerial vehicle flight control system 9; the control output end of the combined power controller 6 is connected with the control input ends of the metal-air battery control module 4 and the super capacitor charging management module 5;
the signal detection module 3 is used for detecting the charge states of the metal-air battery 1 and the super capacitor 2, and the combined power controller 6 is used for sending a power shortage signal to the super capacitor charging management module 5 when the required power exceeds the rated output power of the metal-air battery 1; the super capacitor charging management module 5 controls the super capacitor 2 to discharge supplementary power when receiving the power shortage signal; the current combiner 7 is used for combining the electric energy output by the metal-air battery 1 and the electric energy output by the super capacitor 2 in parallel.
The combined power controller 6 is also in communication connection with the upper computer 10 through wireless, and the combined power controller 6 is also in communication connection with a remote controller through wireless.
The combined power controller 6 is a main control chip. The metal-air battery 1 is an aluminum-air battery with the rated output power of 5000W. The super capacitor 2 is a 2500F/2.7V super capacitor.
When the required power of the unmanned aerial vehicle load is smaller than the rated output power, the metal air battery charges the super capacitor through the super capacitor charger; when load demand power is great, stop to charge super capacitor, metal-air battery and super capacitor pass through and flow the ware output power to the unmanned aerial vehicle load. The parallel flow device has the functions of multi-end input and current distribution, and can control the output power of the metal air battery and the super capacitor in real time according to an energy management strategy so as to meet the power requirement of the load of the unmanned aerial vehicle. The combined power supply controller is internally provided with a parallel flow model, the parallel flow model can respectively control the output power of the metal air battery and the output power of the super capacitor in real time through the parallel flow device, the metal air battery is charged to the safe current of the super capacitor through the super capacitor charging management module, and the super capacitor is well protected.
The energy density of the metal-air battery is 300 wh/kg-1000 wh/kg. The super capacitor is an electrochemical energy storage device between a common capacitor and a power battery. Supercapacitors can provide higher power densities than metal-air batteries, while also providing greater energy densities than conventional capacitors. The specific power density of the super capacitor is 10000 w/kg-20000 w/kg.
Although the metal-air battery can provide higher specific energy and can play a great role in long-term endurance of a load, the metal-air battery cannot provide larger peak power due to lower power density, and the metal-air battery serving as a unique energy source of the electric load cannot meet the peak power of the electric load under working conditions of starting, accelerating, climbing and the like. Meanwhile, because the metal-air battery has no charging function due to the particularity of the capacity mode, a power supply is also needed to be used as the assistance of the metal-air battery for the requirement of braking energy recovery. Super capacitor has that instantaneous discharge current is big, long cycle life, charge time is short, characteristics such as specific power height can effectively compensate metal air power battery energy density low and not chargeable shortcoming, uses metal air battery and super capacitor cooperation, both can prolong the time of endurance of unmanned aerial vehicle load, can satisfy the power performance of unmanned aerial vehicle load again, can also improve energy recuperation's efficiency.
The metal air battery with high energy density is used as a main energy source, the super capacitor with high power density is used as an auxiliary energy source, and the matching of the metal air battery with high energy density and the auxiliary energy source enables the energy and the power of the unmanned aerial vehicle load to be dual satisfied. For the energy distribution of the composite driving power supply, the basic distribution principle is as follows: the metal-air battery with high specific energy provides energy under the working conditions that most of the metal-air battery with high specific energy is smooth and stable and low in power during cruising, and the super capacitor with high specific power provides peak power under the working conditions of takeoff, hovering, wind resistance, turbulence resistance and the like and at the stage of frequent speed change. Therefore, the metal-air battery correspondingly ensures long endurance, and the super capacitor ensures the peak power of the whole process.
According to the task of the electric unmanned aerial vehicle, three main steps of 'taking off the task', 'executing the task according to a set path' and 'completing return flight' are generally required. Therefore, the power system of the electric unmanned aerial vehicle generally has three working modes:
(1) start/climb/emergency mode; (2) a cruise mode; (3) light load mode.
Mode 1: Start/climb/Emergency mode (overload)
Unmanned aerial vehicle is under this mode, and the demand power of unmanned aerial vehicle load can reach several times of rated output power, and metal air battery is slow to the load response speed of rapid change, is difficult to in time provide demand power, and super capacitor power density is high, can supply the part that metal air battery is not enough, satisfies the required instantaneous power of unmanned aerial vehicle load.
Mode 2: cruise mode (load balancing)
After the unmanned aerial vehicle enters the cruise mode, the load demand power changes slowly, the metal air battery can provide energy in time, and the super capacitor works as an auxiliary power supply at the moment. When the unmanned aerial vehicle is in the working mode, the output power and the required power of the metal-air battery are approximately equivalent, and the super capacitor basically does not perform charging and discharging operations.
Mode 3: light load mode
Under the conditions of load reduction, landing and the like, the load demand power of the unmanned aerial vehicle is obviously smaller than the rated output power of the metal-air battery, and the metal-air battery provides energy for the unmanned aerial vehicle and charges the super capacitor according to the conditions.
In addition, electric unmanned aerial vehicle still needs to experience operating mode conditions such as hover, anti-wind, anti torrent, and hybrid power supply system needs satisfy the flight demand according to particular case.
The hybrid power supply system meets the following functional and technical indexes:
(1) support CAN bus protocol
The combined power supply controller is communicated with the flight control system through the CAN bus, on one hand, the required power of the load of the unmanned aerial vehicle is obtained, and on the other hand, the information such as the state of the power system is uploaded to the remote controller.
(2) Supporting wireless transmission functions
When the unmanned aerial vehicle carries out flight test, the state information of the power system needs to be transmitted to the upper computer through the wireless communication module, and meanwhile, the upper computer can also send a control instruction to the unmanned aerial vehicle through the wireless communication module.
(3) Multi-energy system control and scheduling
The combined power supply controller controls the parallel flow device according to an energy management strategy, required power is distributed to the metal air battery and the super capacitor in real time, the load requirement of the unmanned aerial vehicle is met, and efficient flow of energy is guaranteed.
(4) Security detection function
And prompting and alarming abnormal working conditions of electric leakage, over-temperature, over-current and the like of the system, and taking safety protection measures according to corresponding fault conditions.
(5) State monitoring function
Monitoring the working states of the metal-air battery and the super capacitor in real time to ensure the normal work of the system, wherein the monitoring information comprises the current, the voltage, the temperature of a pile and the State of charge (SOC) of the metal-air battery; current, voltage, and SOC of the super capacitor.
(6) Data storage function
The combined power supply controller is internally provided with a data storage function. The system stores important data in the running process into the local storage device at regular time, so that subsequent data checking, processing and the like are facilitated.
Table 1 shows technical indexes of the combined power supply device.
TABLE 1
Referring to table 1, voltage, current and power are the three most important performance indexes that the combined power supply device needs to meet the normal flight of the unmanned aerial vehicle; in order to adapt to the change of the working environment of the unmanned aerial vehicle, the system needs to work under a certain range of temperature, humidity and height; due to the limitation of the flight weight of the unmanned aerial vehicle, the total weight of the power supply needs to be smaller than an upper limit value; in order to meet the requirement of the endurance time of the unmanned aerial vehicle, the rated power of the metal air battery must meet the requirement and is determined in advance; in order to realize communication with a flight control system and an upper computer, the system supports different types of communication interfaces; data storage is one of functions possessed by a system, and requires a certain capacity of storage space; in order to guarantee the reliability of power supply of the power supply, the mean fault interval time of the system is greater than a set value.
The combined power supply device composed of the metal air battery and the super capacitor is a stable, efficient and reliable comprehensive power supply device for solving the problem that the endurance time of the electric multi-rotor unmanned aerial vehicle is short, and compared with a pure lithium power battery, the endurance time of the unmanned aerial vehicle is prolonged to about 4 hours from the original 20 minutes. Unmanned aerial vehicle is at the course of the work, and the metal air battery provides the flight required energy when long voyage as main power supply, but the metal air battery characteristic is soft partially, can't provide the high-power demand of unmanned aerial vehicle load under the condition such as start-up in the twinkling of an eye, fast climb, strong wind suddenly, consequently need dispose super capacitor. The super capacitor can provide the required high power of unmanned aerial vehicle in the short time, also can charge the super capacitor by metal air battery under the not high condition of load demand power, guarantees that the super capacitor electric quantity is in the settlement within range.
Fig. 3 is a flowchart of the operation of the combined power supply apparatus according to embodiment 1 of the present invention.
Referring to fig. 3, the system firstly performs initialization operation when working, and the main program enters a large loop body:
collecting signals such as voltage, current and temperature of the metal-air battery and the super capacitor, judging whether the system works normally, if the system works abnormally, closing the program, and if all indexes are normal, performing the following operations:
(1) SOC estimation: estimating the SOC of the metal-air battery and the super capacitor by adopting a mode of combining an open-circuit voltage method and an ampere-hour integration method;
(2) CAN communication: acquiring the load demand power of the unmanned aerial vehicle by communicating with a flight control system of the unmanned aerial vehicle;
(3) energy management: distributing the output power of the metal air and the super capacitor by adopting a fuzzy neural network energy management algorithm, wherein the power supply power is obtained by inquiring a fuzzy control table stored offline;
(4) wireless communication and data storage: the data are stored to the PC end through the communication of the wireless transmission module and the upper computer, and simultaneously, the data are stored to the local SD card.
(5) And finally, judging whether the system receives a signal for stopping working, if so, closing the program, and otherwise, continuing the cycle operation.
The energy control scheme of the combined power supply device of the invention is as follows:
1. the metal-air battery drives the motor alone: the metal-air battery is used as a main energy source of the system, provides most of energy of the whole electric load cruising stage, keeps flying at a constant speed under a general condition, requires low power for the unmanned aerial vehicle load, and is independently provided with energy by the metal-air battery.
2. The metal-air battery and the super capacitor jointly drive the load motor. When the unmanned aerial vehicle climbs a slope or flies in an accelerating mode, the driving motor not only needs high power, but also needs high power for a long time. If the metal-air battery is used for supplying power independently, the power requirement is probably not met; if by super capacitor independent energy supply, because super capacitor energy storage is lower, reliability when can not guarantee independent energy supply. In conclusion, the energy provided by the metal air battery and the super capacitor together in the acceleration climbing stage is the best choice, and the power performance of the unmanned aerial vehicle can be well guaranteed.
3. And the metal air battery charges the super capacitor. In the whole flight process, the electric quantity stored by the super capacitor is not large, so that the electric quantity is possibly used up in the process of starting acceleration and climbing, and the metal air battery charges the super capacitor through the super capacitor charging management module in the flight process, so that the super capacitor is ensured to play a role in need.
4. And the super capacitor recovers braking energy. When unmanned aerial vehicle is in the braking or when descending the state, the energy flow direction combination power supply unit that the braking produced, because metal air battery is a non-rechargeable battery, so braking energy charges to the super capacitor through super capacitor charge management module in, when super capacitor storage's energy was full, no longer retrieved unmanned aerial vehicle braking energy.
5. The super capacitor is self-discharged. When electronic unmanned aerial vehicle is in the stop flying or when overhauing the state, need discharge super capacitor to guarantee whole unmanned aerial vehicle's security.
The combined power supply controller adopts a fuzzy control method for controlling the power supply of the metal-air battery and the super capacitor, and the fuzzy control method comprises the following steps:
the fuzzy control method should satisfy the following conditions:
1) the combined power supply device tracks the power required by the load in real time;
2) the metal-air battery is used as a main energy source and is in a power supply state all the time in the working process, and when the power required by a load is greater than the rated power of the metal-air battery, the metal-air battery outputs at the rated power;
3) when the state of charge (SOC) of the metal-air battery is not less than 20%, the metal-air battery outputs power normally, and when the SOC of the metal-air battery is less than 20%, the metal-air battery stops working;
4) the characteristic that the super capacitor outputs high power instantly is fully utilized, and when the power required by the load is smaller than the rated power of the metal-air battery, the metal-air battery charges the super capacitor at a low current, so that the SOC of the super capacitor is maintained at a higher level of more than 80%.
5) When the load is in a light load or braking state, the required power of the load is very small or negative, and the motor of the load of the unmanned aerial vehicle plays a role in power generation at the moment, so that the energy can be recovered to the combined power supply device. Because the metal-air battery in the combined power supply device can not recover energy, the energy is recovered when the residual electric quantity of the super capacitor is not full, and the energy is not recovered any more if the residual electric quantity of the super capacitor is full.
6) When electronic unmanned aerial vehicle is in non-braking flight state, the demand power of load is positive, needs the size of analysis demand power positive value this moment. If the required power is small, the load is in a stable running state or a low-speed running state, the metal-air battery supplies relatively stable and continuous low power under the condition that the SOC of the metal-air battery is not less than 20%, if the SOC of the metal-air battery is less than 20%, the state of continuously outputting energy cannot be guaranteed, and meanwhile, the SOC of the super capacitor is not less than 20%, the super capacitor and the metal-air battery can jointly provide energy under the low power requirement. If the required power of the load is larger, the load is in a starting, accelerating or climbing stage, the metal-air battery provides average power under normal conditions, the super capacitor provides peak power, and the power provided by the super capacitor is far larger than that provided by the metal-air battery. But if the residual capacity of the super capacitor or the metal-air battery is low, the load brakes.
The source of the required power of the unmanned aerial vehicle is composed of a metal air battery and a super capacitor. If energy loss caused by heating or mechanical loss and the like in the energy transfer process is not counted, the power relationship among the three is as follows:
Preq＝PMetal+Pscap
wherein, Preq is the required power of the unmanned aerial vehicle load, PMetal is the power provided by the metal-air battery, and Pscap is the power provided by the super capacitor.
The final purpose of the fuzzy control method is to reasonably distribute the required power of the unmanned aerial vehicle load between the metal-air battery and the super capacitor, and define the power proportion KMetal of the metal-air battery power in the required power of the unmanned aerial vehicle load as the output result of the fuzzy control, and the expression form is as follows:
KMetal＝PMetal/Preq
PMetal＝Preq·KMetal
Pscap＝Preq(1-KMetal)
the power that the metal-air battery and the super capacitor can provide is represented by the unmanned aerial vehicle load demand power and the metal-air battery power ratio factor.
To obtain the final output result, namely the metal-air battery power ratio KMetal through fuzzy control, several relevant quantities affecting the metal-air battery power ratio KMetal must be known, namely required power, metal-air battery output power and super capacitor output power. Because the state of charge (SOC) determines the discharge power of the metal-air battery and the charge-discharge power of the super capacitor, the input quantity of the fuzzy logic control can be determined to be the unmanned aerial vehicle load demand power Preq, the state of charge (SOCMetal) of the metal-air battery and the state of charge (SOCscap) of the super capacitor. No matter be metal-air battery or super capacitor, its state of charge SOC can all produce very big influence to its self working property, if super capacitor's SOC is too high, just can't retrieve the energy that produces under the unmanned aerial vehicle braking state, and super capacitor's SOC is low excessively, can lead to the unmanned aerial vehicle to start, climb or the peak power when accelerating to can't obtain guaranteeing especially to influence the dynamic behavior of complete machine. The state of charge SOC constraints for metal-air batteries and supercapacitors are as follows:
SOCMetal_max(80％)≥SOCMetal≥SOCMetal_min(20％)
SOCscap_max(80％)≥SOCscap≥SOCscap(20％)
the metal air battery has high energy density and obvious endurance advantage, and can provide stable medium and small power required by the unmanned aerial vehicle in the whole process. But metal-air battery can not provide high-power, does not possess the function of charging simultaneously, can't retrieve the braking energy of unmanned aerial vehicle when descending or braking. And super capacitor then forms complemental with metal-air battery, and super capacitor energy density is little, can not provide the energy that unmanned aerial vehicle needs in the whole journey, but super capacitor power density is big, and when unmanned aerial vehicle can't obtain power from metal-air power battery completely in start-up, climbing or acceleration phase, super capacitor can provide very big instantaneous peak power, but super capacitor stored energy is not many, can only satisfy the peak power requirement of short time.
When unmanned aerial vehicle was in the brake state, the demand power Preq of unmanned aerial vehicle load was negative, and unmanned aerial vehicle's motor performance power generation effect this moment can be with energy recuperation to combination power supply unit. Since the metal-air battery in the combined power supply device cannot recover energy, the control rule is simple when the required power is negative.
The output KMetal is only determined by the required power and the state of charge SOCcap of the super capacitor, and is independent of the state of charge SOCMetal of the metal-air battery. And if the residual capacity of the super capacitor is full, the energy is not recovered any more.
When the unmanned aerial vehicle is in the non-braking normal cruise state, the demand power Preq of the unmanned aerial vehicle is positive, and the magnitude of the positive value of the demand power needs to be analyzed at the moment. If the required power Preq is small, which indicates that the unmanned aerial vehicle is in a steady operation state or a low-speed operation state, the metal-air battery supplies relatively stable and continuous small power and the KMetal is large under the condition that the state of charge socmet of the metal-air battery is not small (more than 20%), a state of continuous energy output may not be guaranteed if the state of charge socmet of the metal-air battery is small (less than 20%), and meanwhile, the state of charge soccap of the super capacitor is not small, the super capacitor and the metal-air battery can jointly supply energy under the condition of the small power requirement.
If the required power Preq of the unmanned aerial vehicle is larger, at the moment, the unmanned aerial vehicle is in a starting, accelerating or climbing stage, the metal-air battery provides mean power under normal conditions, the super capacitor provides peak power, the power provided by the super capacitor is far larger than the power provided by the metal-air battery, the metal-air battery power ratio factor KMetal is smaller, and the super capacitor power ratio factor Kscap is larger. However, if the remaining capacity of the super capacitor or the metal-air battery is low, the braking is decreased. If the state of charge of the supercapacitor, soccap, is low, then power is primarily provided by the metal-air battery.
Example 2:
the embodiment 2 of the invention provides a combined power supply method for an electric unmanned aerial vehicle, which is applied to the combined power supply device for the electric unmanned aerial vehicle and is used for providing instantaneous high power when the combined power supply device for the electric unmanned aerial vehicle has the instantaneous high power requirement.
The combined power supply method comprises the following steps:
step 201: acquiring a power demand signal of the unmanned aerial vehicle;
step 202: judging whether the required power is greater than the rated output power of the metal-air battery according to the power demand signal to obtain a first judgment result;
step 203: if the first judgment result shows that the current is positive, acquiring the residual electric quantity of the super capacitor;
step 204: judging whether the residual electric quantity of the super capacitor is larger than the lowest threshold value of the electric quantity of the capacitor to obtain a second judgment result;
step 205: if the second judgment result shows that the current is positive, sending a control signal for controlling the discharge of the super capacitor to a super capacitor charge management module;
step 206: if the second judgment result shows that the power is insufficient, sending out a power shortage warning signal;
step 207: and if the first judgment result shows that the power demand signal is not met, controlling the metal-air battery to output power according to the power demand signal.
Optionally, step 207 specifically includes:
judging whether the residual electric quantity of the metal-air battery is larger than a battery electric quantity minimum threshold value or not to obtain a third judgment result;
if the third judgment result shows that the power is insufficient, sending out an electricity shortage warning signal, and sending out a request for reducing the required power to the unmanned aerial vehicle flight control system;
if the third judgment result shows that the difference value between the rated output power and the required power is greater than the lowest preset difference value, judging whether the difference value between the rated output power and the required power is greater than the lowest preset difference value according to the power requirement signal to obtain a fourth judgment result;
and if the fourth judgment result shows that the output electric quantity of the metal-air battery is the same as the output electric quantity of the super capacitor, processing the redundant part of the output electric quantity of the metal-air battery according to the residual electric quantity of the super capacitor.
Optionally, after step 206, the method further includes:
and sending a request for reducing the required power to the unmanned aerial vehicle flight control system.
Optionally, the processing the redundant part of the output power of the metal-air battery according to the remaining power of the super capacitor specifically includes:
judging whether the residual electric quantity of the super capacitor is larger than the highest threshold value of the electric quantity of the capacitor or not to obtain a fifth judgment result;
and if the fifth judgment result shows that the electric quantity is not the same as the electric quantity output by the metal-air battery, controlling a super capacitor charging management module to charge the super capacitor with the redundant part of the output electric quantity of the metal-air battery.
Example 3:
the embodiment 2 of the invention provides an electric unmanned aerial vehicle combined power supply system, which is applied to the electric unmanned aerial vehicle combined power supply device and is used for providing instantaneous high power when the electric unmanned aerial vehicle combined power supply device has the instantaneous high power requirement.
The combined power supply system includes:
the demand power acquisition module is used for acquiring a power demand signal of the unmanned aerial vehicle;
the first judgment module is used for judging whether the required power is greater than the rated output power of the metal-air battery according to the power demand signal to obtain a first judgment result;
the capacitance electric quantity obtaining module is used for obtaining the residual electric quantity of the super capacitor if the first judgment result shows that the super capacitor is in the positive state;
the second judgment module is used for judging whether the residual electric quantity of the super capacitor is larger than the lowest threshold value of the electric quantity of the capacitor to obtain a second judgment result;
the capacitor discharging module is used for sending a control signal for controlling the discharging of the super capacitor to the super capacitor charging management module if the second judgment result shows that the super capacitor is charged;
the power shortage warning module is used for sending a power shortage warning signal if the second judgment result shows that the power shortage warning signal is not sent;
and the battery power supply module is used for controlling the metal-air battery to output power according to the power demand signal if the first judgment result shows that the power demand signal does not indicate the power demand signal.
Optionally, the battery power supply module includes:
the third judgment unit is used for judging whether the residual electric quantity of the metal-air battery is greater than the lowest threshold value of the electric quantity of the battery to obtain a third judgment result;
the power reduction request unit is used for sending out an electricity shortage warning signal and sending out a request for reducing the required power to the unmanned aerial vehicle flight control system if the third judgment result shows that the power reduction request unit does not send out the electricity shortage warning signal;
a fourth judging unit, configured to, if the third judgment result indicates yes, judge whether a difference between the rated output power and the required power is greater than a minimum preset difference according to the power demand signal, so as to obtain a fourth judgment result;
and the redundant electric quantity processing unit is used for processing the redundant part of the output electric quantity of the metal-air battery according to the residual electric quantity of the super capacitor if the fourth judgment result shows that the output electric quantity of the metal-air battery is yes.
Optionally, the excess power processing unit includes:
the fifth judging subunit is configured to judge whether the remaining power of the super capacitor is greater than a highest capacitor power threshold, so as to obtain a fifth judgment result;
and the capacitor charging subunit is used for controlling a super capacitor charging management module to charge the redundant part of the output electric quantity of the metal-air battery into the super capacitor if the fifth judgment result shows that the output electric quantity of the metal-air battery is not the same as the output electric quantity of the super capacitor.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: according to the combined power supply device, method and system for the electric unmanned aerial vehicle, disclosed by the invention, when the unmanned aerial vehicle has the requirement of instantaneous high power, the instantaneous output power is improved by discharging the super capacitor, so that the requirement of instantaneous high power of the unmanned aerial vehicle is met.
For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. The utility model provides an electronic unmanned aerial vehicle makes up power supply unit which characterized in that includes: the device comprises a metal air battery, a super capacitor, a signal detection module, a metal air battery control module, a super capacitor charging management module, a combined power supply controller and a parallel flow device;
the electric energy output ends of the metal air battery and the super capacitor are connected with the electric energy input end of the current combiner;
the electric energy output end of the current combiner is connected with the electric energy input end of the unmanned aerial vehicle load;
the control input end of the metal-air battery is connected with the control output end of the metal-air battery control module, and the control output end of the super capacitor charging management module is connected with the control input end of the super capacitor;
the signal input end of the signal detection module is respectively connected with the metal-air battery and the super capacitor; the signal output end of the signal detection module is connected with the signal input end of the combined power supply controller; the signal input end of the combined power supply controller is also connected with the signal output end of the unmanned aerial vehicle flight control system and used for acquiring a power demand signal sent by the unmanned aerial vehicle flight control system; the control output end of the combined power supply controller is connected with the control input ends of the metal-air battery control module and the super capacitor charging management module;
the combined power supply controller is used for sending a power shortage signal to the super capacitor charging management module when the required power exceeds the rated output power of the metal-air battery; the super capacitor charging management module controls the super capacitor to discharge supplementary power when receiving the power shortage signal; the current combiner is used for carrying out parallel current on the electric energy output by the metal air battery and the electric energy output by the super capacitor;
a parallel flow model is arranged in the combined power supply controller, the parallel flow model respectively controls the output power of the metal air battery and the output power of the super capacitor in real time through a parallel flow device, and the metal air battery is charged for the safe current of the super capacitor through a super capacitor charging management module;
the power supply control of the combined power supply controller on the metal air battery and the super capacitor adopts a fuzzy control method, the fuzzy control method is to reasonably distribute the required power of the unmanned aerial vehicle load between the metal air battery and the super capacitor, and the power ratio K of the metal air battery power in the required power of the unmanned aerial vehicle loadMetalAs an output result of the fuzzy control, the expression is as follows:
KMetal＝PMetal/Preq
PMetal＝Preq·KMetal
Pscap＝Preq(1-KMetal)
determining that the input of the fuzzy logic control is the unmanned aerial vehicle load demand power PreqAnd state of charge SOC of metal-air batteryMetalAnd super capacitor state of charge SOCscap(ii) a The state of charge SOC constraints for metal-air batteries and supercapacitors are as follows:
SOCMetal_max(80％)≥SOCMetal≥SOCMetal_min(20％)
SOCscap_max(80％)≥SOCscap≥SOCscap(20％)。
2. the combined power supply device of claim 1, wherein the combined power controller communicates with the unmanned aerial vehicle flight control system via a CAN bus.
3. The combined power supply device of the electric unmanned aerial vehicle as claimed in claim 1, wherein the combined power supply controller is connected with the upper computer and the remote controller through wireless communication.
4. The combined power supply device for the electric unmanned aerial vehicle as claimed in claim 1, wherein the device monitors the working states of the metal-air battery and the super capacitor in real time, and the monitoring information includes the current, the voltage, the temperature and the state of charge of the metal-air battery, and the current, the voltage and the state of charge of the super capacitor.
5. The combined power supply device for the electric unmanned aerial vehicle according to claim 1, wherein the metal-air battery is an aluminum-air battery, a magnesium-air battery, a lithium-air battery or a zinc-air battery.
6. The electric unmanned aerial vehicle combined power supply device of claim 1, wherein the super capacitor is a 2500F/2.7V super capacitor.
7. An electric unmanned aerial vehicle combined power supply method is applied to the electric unmanned aerial vehicle combined power supply device as claimed in any one of claims 1-6, and the combined power supply method comprises the following steps: acquiring a power demand signal of the unmanned aerial vehicle;
judging whether the required power is greater than the rated output power of the metal-air battery according to the power demand signal to obtain a first judgment result;
if the first judgment result shows that the current is positive, acquiring the residual electric quantity of the super capacitor;
judging whether the residual electric quantity of the super capacitor is larger than the lowest threshold value of the electric quantity of the capacitor to obtain a second judgment result;
if the second judgment result shows that the current is positive, sending a control signal for controlling the discharge of the super capacitor to a super capacitor charge management module;
if the second judgment result shows that the power is insufficient, sending out a power shortage warning signal;
and if the first judgment result shows that the power demand signal is not met, controlling the metal-air battery to output power according to the power demand signal.
8. The combined power supply method for the electric unmanned aerial vehicle according to claim 7, wherein the controlling the metal-air battery to output power according to the power demand signal specifically comprises: judging whether the residual electric quantity of the metal-air battery is larger than a battery electric quantity minimum threshold value or not to obtain a third judgment result;
if the third judgment result shows that the power is insufficient, sending out an electricity shortage warning signal, and sending out a request for reducing the required power to the unmanned aerial vehicle flight control system;
if the third judgment result shows that the difference value between the rated output power and the required power is greater than the lowest preset difference value, judging whether the difference value between the rated output power and the required power is greater than the lowest preset difference value according to the power requirement signal to obtain a fourth judgment result;
and if the fourth judgment result shows that the output electric quantity of the metal-air battery is the same as the output electric quantity of the super capacitor, processing the redundant part of the output electric quantity of the metal-air battery according to the residual electric quantity of the super capacitor.
9. The combined power supply method for electric unmanned aerial vehicles according to claim 7, characterized in that after the sending out the power shortage warning signal, the method further comprises: and sending a request for reducing the required power to the unmanned aerial vehicle flight control system.
10. The electric unmanned aerial vehicle combined power supply method according to claim 8, wherein the processing of the excess part of the output power of the metal-air battery according to the remaining power of the super capacitor specifically comprises: judging whether the residual electric quantity of the super capacitor is larger than the highest threshold value of the electric quantity of the capacitor or not to obtain a fifth judgment result;
and if the fifth judgment result shows that the electric quantity is not the same as the electric quantity output by the metal-air battery, controlling a super capacitor charging management module to charge the super capacitor with the redundant part of the output electric quantity of the metal-air battery.
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| US11787537B2 (en) | 2019-10-09 | 2023-10-17 | Kitty Hawk Corporation | Hybrid power systems for different modes of flight |
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| WO2023229835A1 (en) * | 2022-05-25 | 2023-11-30 | Kitty Hawk Corporation | Battery systems with power optimized energy source and energy storage optimized source |
| CN115189454A (en) * | 2022-09-06 | 2022-10-14 | 深圳市今朝时代股份有限公司 | Energy storage energy distribution system and method for super-capacitor hybrid battery |
| CN115189454B (en) * | 2022-09-06 | 2023-02-03 | 深圳市今朝时代股份有限公司 | Energy storage energy distribution system and method for super-capacitor hybrid battery |
| CN117208259A (en) * | 2023-05-18 | 2023-12-12 | 河北建筑工程学院 | Hybrid unmanned aerial vehicle |
| CN117208259B (en) * | 2023-05-18 | 2024-04-16 | 河北建筑工程学院 | Hybrid unmanned aerial vehicle |
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| CN110001975A (en) | 2019-07-12 |
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