CN103869255A - Micro-miniature electric unmanned aerial vehicle endurance time estimation method - Google Patents

Abstract

The invention discloses a micro-miniature electric unmanned aerial vehicle endurance time estimation method which comprises the following steps that during flight of an unmanned aerial vehicle, a real-time current value and a voltage value obtained when a battery of the unmanned aerial vehicle is discharged are collected, and an average discharge current Im and an average discharge voltage Um in the endurance process of the unmanned aerial vehicle are calculated; according to the real-time current and voltage data, the average flight required power Preq of the unmanned aerial vehicle is calculated; the state of charge (SOC) and surplus capacity C(t) of the battery are detected, and the energy capacity Q(t) of the battery during the flight task of the unmanned aerial vehicle is calculated; due to the fact that the average flight required power Preq and the energy capacity Q(t) of the battery of the unmanned aerial vehicle are calculated, the real-time result of the surplus endurance time T(t) during the flight task of the unmanned aerial vehicle is obtained. The micro-miniature electric unmanned aerial vehicle endurance time estimation method does not depend on a model, dependency on knowledge and information of a known process is greatly reduced, the large model building cost and time investment are avoided, and the efficiency of real-time estimation of endurance time is improved.

Description

The electronic unmanned plane of microminiature evaluation method in cruising time

Technical field

The present invention relates to the airborne energy management technical field of electronic unmanned plane, particularly the electronic unmanned plane of a kind of microminiature real-time estimating method in cruising time.

Background technology

Microminiature unmanned plane has good dirigibility and performance in emergency manuever, has a wide range of applications in fields such as military surveillance, emergency management and rescue, environmental monitorings.Prediction in cruising time is accurately to ensure one of key technical index that unmanned plane is finished the work smoothly.Due to when the real-time flight, the factor such as the geometric configuration of unmanned plane, deadweight, useful load, flying speed, trajectory planning all can make a significant impact voyage and cruising time.If the voyage of real-time estimation unmanned plane and cruising time exactly, and feed back to and fly control and management system and land station, to be conducive to effective utilization etc. of aerial mission formulation, navigating area and flight-line design, airborne period, thereby improve the effective rate of utilization of unmanned plane.Than common unmanned plane, because microminiature unmanned plane volume is less, the energy carries very limitedly, the Accurate Prediction in its cruising time seems more important.

According to unmanned plane handbook, the estimation equation in electronic unmanned plane cruising time is:

$T=\frac{Q{\mathrm{\η}}_m{\mathrm{\η}}_{\mathrm{preq}}}{p_{\mathrm{req}}}---\left(1\right)$

In formula: T is cruising time; Q is the energy content of battery; η _mfor the motor efficiency (getting empirical value according to model) of cruising condition; η _preqfor the efficiency (getting empirical value according to model) of screw propeller; p _reqfor the average power demand of unmanned plane real-time flight state.From formula (1), in real time, predict that the cruising time of unmanned plane under random flight state, key point are exactly the accurate estimated value that will obtain battery capacity in aerial mission way exactly, wish to obtain following estimation equation in cruising time,

$T\left(t\right)=\frac{Q\left(t\right){\mathrm{\η}}_m{\mathrm{\η}}_{\mathrm{preq}}}{p_{\mathrm{req}}}---\left(2\right)$

The present invention is directed to and adopt lithium battery as the electronic unmanned plane of the many rotors of microminiature of the energy, by the dump energy of on-line prediction battery, provide a kind of more accurately, real-time unmanned plane estimating techniques in cruising time.

Summary of the invention

The problem to be solved in the present invention is to provide the technical scheme in a kind of dump energy that can estimate in real time, exactly the electronic unmanned plane lithium battery of microminiature and unmanned plane cruising time.

For achieving the above object, the invention provides the electronic unmanned plane of a kind of microminiature evaluation method in cruising time, comprise the steps:

Step 1: in unmanned plane during flying, real-time current value and magnitude of voltage when the battery in collection unmanned plane discharges, and calculate the average discharge current I in unmanned plane continuation of the journey process _mwith average discharge volt U _m;

Step 2: according to real-time current and voltage data, carry out the average power demand P of unmanned plane during flying _reqcalculating;

Step 3: detect state-of-charge (SOC) and the residual capacity C (t) of battery, and carry out the calculating of the energy content of battery Q (t) in unmanned plane during flying task way;

Step 4: according to the average power demand P of unmanned plane during flying _reqwith the calculating of energy content of battery Q (t), draw the result of the residue T in cruising time (t) in real-time unmanned plane during flying task way.

Further, described step 2 comprises:

Power P _reqcomputing formula be:

p _req=p·η _e (3)

In formula, p is battery average power, η _efor the discharging efficiency of unmanned plane lithium battery.

Further, the calculating of described p comprises:

p=U _m·I _m (4)

η _eestimation equation be,

${\mathrm{\&eta;}}_e=\frac{{\mathrm{<figure-callout\; id="0"\; label="Q"\; filenames="HDA0000478379500000021.png,HDA0000478379500000041.png"\; state="\{\{state\}\}">Q</figure-callout>}}_0\&CenterDot;{\mathrm{\&eta;}}_m\&CenterDot;{\mathrm{\&eta;}}_{\mathrm{preq}}}{p\&CenterDot;T_0}---\left(5\right)$

In formula, Q ₀total amount of electric charge (battery gross energy) while being full of electricity for battery, T ₀for average actual cruising time.

Further, described Q ₀estimation comprise:

Q ₀=C ₀·U _m (6)

C ₀computing formula be:

${\mathrm{<figure-callout\; id="0"\; label="C"\; filenames="HDA0000478379500000021.png,HDA0000478379500000041.png"\; state="\{\{state\}\}">C</figure-callout>}}_0={\&Integral;}_0^{t_{\mathrm{EDV}}}I\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;}---\left(7\right)$

In formula, I (τ) is the real-time current of lithium battery electric discharge, t _eDVrefer to that the real-time voltage U (t) of battery reaches the time of discharge cut-off voltage.According to repeatedly electric current and the voltage curve of flight test, obtain battery rated capacity C ₀mean value.

Further, described T ₀assay method be: lithium battery is discharged to cut-off voltage with steady current, and repeatedly experiment obtains the T in average actual cruising time of unmanned plane ₀.

Further, described step 3 comprises:

The relational model of the energy content of battery and capacity is,

Q=C·U _m (8)

In formula, C represents battery capacity, U _mfor battery average discharge volt.

Further, described step 3 comprises:

If want the real-time energy Q (t) of estimating battery, first want the residual capacity C (t) of estimating battery, this needs the state-of-charge (SOC) of estimating battery,

C(t)=C ₀·SOC(t) (9)

Select following SOC computing formula,

$\mathrm{SOC}\left(t\right)={\mathrm{SOC}}_0-\frac{1}{{\mathrm{<figure-callout\; id="0"\; label="C"\; filenames="HDA0000478379500000021.png,HDA0000478379500000041.png"\; state="\{\{state\}\}">C</figure-callout>}}_0}{\&Integral;}_0^{t}I\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;}---\left(10\right)$

In formula, SOC ₀refer to the state-of-charge of battery at initial time, the battery discharge current that I (τ) surveyed for the τ moment, C ₀for the battery rated capacity obtaining in step 2,

Can obtain

$Q\left(t\right)=C_0({\mathrm{SOC}}_0-\frac{1}{{\mathrm{<figure-callout\; id="0"\; label="C"\; filenames="HDA0000478379500000021.png,HDA0000478379500000041.png"\; state="\{\{state\}\}">C</figure-callout>}}_0}{\&Integral;}_0^{t}I\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;})\stackrel{\&OverBar;}{U}\left(t\right)---\left(11\right)$

In formula, it is the average of battery discharge voltage measured value between 0～t moment.

Further, described step 4 comprises:

$T\left(t\right)=\frac{Q\left(t\right){\mathrm{\&eta;}}_m{\mathrm{\&eta;}}_{\mathrm{preq}}}{p_{\mathrm{req}}}=\frac{{\mathrm{<figure-callout\; id="0"\; label="C"\; filenames="HDA0000478379500000021.png,HDA0000478379500000041.png"\; state="\{\{state\}\}">C</figure-callout>}}_0\&CenterDot;({\mathrm{SOC}}_0-\frac{1}{{\mathrm{<figure-callout\; id="0"\; label="C"\; filenames="HDA0000478379500000021.png,HDA0000478379500000041.png"\; state="\{\{state\}\}">C</figure-callout>}}_0}{\&Integral;}_0^{t}I\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;})\&CenterDot;\stackrel{\&OverBar;}{U}\left(t\right){\mathrm{\&eta;}}_m{\mathrm{\&eta;}}_{\mathrm{preq}}}{p_{\mathrm{req}}}---\left(12\right).$

Beneficial effect of the present invention is as follows:

(1) the present invention does not rely on model, has greatly reduced the dependence to known procedure knowledge and information, has avoided larger cost and time that model is set up to drop into, and has improved the real-time efficiency of estimating cruising time.

(2) native system only need to gather battery operated process data, does not relate to complicated mathematics or process mechanism, easily understands, conveniently implements.

(3) because miniature electric unmanned plane during flying state variation is large, estimate that by dynamics the method in cruising time is difficult to get cruising time accurately.The present invention is by real-time measurement current/voltage and introduce battery charge state, can effectively overcome state of flight and speed and change the deviation of bringing.

The aspect that the present invention is additional and advantage in the following description part provide, and these will become obviously from the following description, or recognize by practice of the present invention.

Brief description of the drawings

Fig. 1 is method flow schematic diagram of the present invention;

Fig. 2 shows the schematic diagram that state of flight is more stable and discharge current amplitude of variation is less;

Fig. 3 shows state of flight the schematic diagram of obvious change and discharge current vary within wide limits;

Fig. 4 shows the schematic diagram of the small size randomly changing of state of flight and discharge current random variation.

Embodiment

Describe embodiments of the present invention below in detail, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of identical or similar functions from start to finish.Be exemplary below by the embodiment being described with reference to the drawings, only for explaining the present invention, and can not be interpreted as limitation of the present invention.

Unless those skilled in the art of the present technique are appreciated that specially statement, singulative used herein " ", " one ", " described " and " being somebody's turn to do " also can comprise plural form.Should be further understood that, the wording using in instructions of the present invention " comprises " and refers to and have described feature, integer, step, operation, element and/or assembly, exists or adds one or more other features, integer, step, operation, element, assembly and/or their group but do not get rid of.Should be appreciated that, when we claim element to be " connected " or " coupling " when another element, it can be directly connected or coupled to other elements, or also can have intermediary element.In addition, " connection " used herein or " coupling " can comprise wireless connections or couple.Wording "and/or" used herein comprises arbitrary unit of listing item and all combinations that one or more is associated.

Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (comprising technical term and scientific terminology) have with the present invention under the identical meaning of the general understanding of those of ordinary skill in field.Should also be understood that such as those terms that define in general dictionary and should be understood to have the meaning consistent with meaning in the context of prior art, unless and definition as here, can not explain by idealized or too formal implication.

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.

Fig. 1 is method flow schematic diagram of the present invention.As shown in Figure 1, for achieving the above object, the invention provides the electronic unmanned plane of a kind of microminiature evaluation method in cruising time, comprise the steps:

Step 1: in unmanned plane during flying, real-time current value and magnitude of voltage when the battery in collection unmanned plane discharges, and calculate the average discharge current I in unmanned plane continuation of the journey process _mwith average discharge volt U _m;

Step 2: according to real-time current and voltage data, carry out the average power demand P of unmanned plane during flying _reqcalculating;

Step 3: detect state-of-charge (SOC) and the residual capacity C (t) of battery, and carry out the calculating of the energy content of battery Q (t) in unmanned plane during flying task way;

Step 4: according to the average power demand P of unmanned plane during flying _reqwith the calculating of energy content of battery Q (t), draw the result of the residue T in cruising time (t) in real-time unmanned plane during flying task way.

Further, described step 2 comprises:

Power P _reqcomputing formula be:

p _req=p·η _e (3)

In formula, p is battery average power, η _efor the discharging efficiency of unmanned plane lithium battery.

Further, the calculating of described p comprises:

p=U _m·I _m (4)

η _eestimation equation be,

${\mathrm{\&eta;}}_e=\frac{{\mathrm{<figure-callout\; id="0"\; label="Q"\; filenames="HDA0000478379500000021.png,HDA0000478379500000041.png"\; state="\{\{state\}\}">Q</figure-callout>}}_0\&CenterDot;{\mathrm{\&eta;}}_m\&CenterDot;{\mathrm{\&eta;}}_{\mathrm{preq}}}{p\&CenterDot;T_0}---\left(5\right)$

In formula, Q ₀total amount of electric charge (battery gross energy) while being full of electricity for battery, T ₀for average actual cruising time.

Further, described Q ₀estimation comprise:

Q ₀=C ₀·U _m (6)

C ₀computing formula be:

${\mathrm{<figure-callout\; id="0"\; label="C"\; filenames="HDA0000478379500000021.png,HDA0000478379500000041.png"\; state="\{\{state\}\}">C</figure-callout>}}_0={\&Integral;}_0^{t_{\mathrm{EDV}}}I\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;}---\left(7\right)$

In formula, I (τ) is the real-time current of lithium battery electric discharge, t _eDVrefer to that the real-time voltage U (t) of battery reaches the time of discharge cut-off voltage.According to repeatedly electric current and the voltage curve of flight test, obtain battery rated capacity C ₀mean value.

Further, described T ₀assay method be: lithium battery is discharged to cut-off voltage with steady current, and repeatedly experiment obtains the T in average actual cruising time of unmanned plane ₀.

Further, described step 3 comprises:

The relational model of the energy content of battery and capacity is,

Q=C·U _m (8)

In formula, C represents battery capacity, U _mfor battery average discharge volt.

Further, described step 3 comprises:

If want the real-time energy Q (t) of estimating battery, first want the residual capacity C (t) of estimating battery, this needs the state-of-charge (SOC) of estimating battery,

C(t)=C ₀·SOC(t) (9)

Select following SOC computing formula,

$\mathrm{SOC}\left(t\right)={\mathrm{SOC}}_0-\frac{1}{{\mathrm{<figure-callout\; id="0"\; label="C"\; filenames="HDA0000478379500000021.png,HDA0000478379500000041.png"\; state="\{\{state\}\}">C</figure-callout>}}_0}{\&Integral;}_0^{t}I\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;}---\left(10\right)$

In formula, SOC ₀refer to the state-of-charge of battery at initial time, the battery discharge current that I (τ) surveyed for the τ moment, C ₀for the battery rated capacity obtaining in step 2,

Can obtain

$Q\left(t\right)=C_0({\mathrm{SOC}}_0-\frac{1}{{\mathrm{<figure-callout\; id="0"\; label="C"\; filenames="HDA0000478379500000021.png,HDA0000478379500000041.png"\; state="\{\{state\}\}">C</figure-callout>}}_0}{\&Integral;}_0^{t}I\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;})\stackrel{\&OverBar;}{U}\left(t\right)---\left(11\right)$

In formula,

it is the average of battery discharge voltage measured value between 0～t moment.

Further, described step 4 comprises:

$T\left(t\right)=\frac{Q\left(t\right){\mathrm{\&eta;}}_m{\mathrm{\&eta;}}_{\mathrm{preq}}}{p_{\mathrm{req}}}=\frac{{\mathrm{<figure-callout\; id="0"\; label="C"\; filenames="HDA0000478379500000021.png,HDA0000478379500000041.png"\; state="\{\{state\}\}">C</figure-callout>}}_0\&CenterDot;({\mathrm{SOC}}_0-\frac{1}{{\mathrm{<figure-callout\; id="0"\; label="C"\; filenames="HDA0000478379500000021.png,HDA0000478379500000041.png"\; state="\{\{state\}\}">C</figure-callout>}}_0}{\&Integral;}_0^{t}I\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;})\&CenterDot;\stackrel{\&OverBar;}{U}\left(t\right){\mathrm{\&eta;}}_m{\mathrm{\&eta;}}_{\mathrm{preq}}}{p_{\mathrm{req}}}---\left(12\right).$

The present invention has carried out experimental verification on the electronic unmanned plane of miniature four rotor of development voluntarily.This unmanned plane mainly flies the parts such as control circuit plate, four rotors and battery by one and forms.The diameter of whole miniature four rotors is 10cm.The shape that flies to control plate is designed to the shape of four rotor fuselages, and circuit designs by single-chip microcomputer mode, has adopted STM32 series A RM processor, and the required electronic component of unmanned plane is all integrated into and flies to control on plate.Propeller radius is 2.5cm, and rotor is arranged on respectively on four arms that fly to control plate, and is driven by four DC hollow cup motors respectively.The energy conversion rate of hollow-cup motor is very high, is conducive to the saving of the aircraft battery energy, and volume is little, total amount is light, is suitable for minute vehicle.Fly to control plate and by PWM mode, the voltage of hollow-cup motor is controlled, with adjusting rotary speed, thereby reach the object of controlling attitude of flight vehicle.Aircraft adopts lithium battery power supply, lithium battery to have the features such as storage power density is high, long service life, lightweight, volume is little, is applicable to being very much applied on minute vehicle.

The present embodiment specifically comprises following result.

1. select three lithium batteries that model is identical, done 18 groups of experiments.Start electric discharge from lithium battery fullcharging state, until voltage drops to cut-off voltage 3.2V, gather the data such as discharge current, sparking voltage, discharge time, battery temperature.Wherein, data acquisition time is spaced apart 0.5s, and experimental temperature is constant is 25 DEG C.For this four rotor wing unmanned aerial vehicle, rule of thumb determine that the efficiency of motor is: η _m=0.63, the efficiency of screw propeller is: η _preq=0.68.

2. measure the average amount constant volume C of this group lithium battery ₀with T in average actual cruising time ₀.Battery is started to constant-current discharge (current value is 0.5A) from fullcharging state (4.2V), until cut-off voltage (3.2V) repeatedly obtains battery rated capacity C after experiment ₀=280mAh, T ₀=1753s.

3. measure the average power demand P of these miniature four rotor wing unmanned aerial vehicles _req.According to the measurement data of battery discharge, average discharge current I _m=0.58A, U _m=3.7V.Battery average power p=U _mi _m=2.146w, battery efficiency η _e=0.6, the average power demand p of unmanned plane _req=1.29.

4. the following three kinds of situations of design are verified the real-time estimation formula in cruising time:

Fig. 2 shows the schematic diagram that state of flight is more stable and discharge current amplitude of variation is less.

Make these miniature four rotor wing unmanned aerial vehicles in indoor flight, cruise section does low-angle luffing, and the discharge current of battery and voltage approximately linear slowly change.Fig. 2 has provided the real-time estimate result in cruising time.Wherein, be 1251 seconds actual total cruising time, and therefore, be the cruising time of real surplus: T (t)=1251-t, t is the prediction moment.Be can be observed by Fig. 2, predicted value and the actual value goodness of fit are fine, and especially, at state of flight cruise section more stably, precision of prediction is very high.

Fig. 3 shows state of flight the schematic diagram of obvious change and discharge current vary within wide limits.

First make this miniature quadrotor smooth flight, state of flight and velocity variations are less, reduce its flying speed in the time of 500s, and state of flight flies to change into glide by flat, and now electric current is reduced to rapidly 0.19A by 1.2A, remain on afterwards this numerical value left and right.Fig. 3 has provided the real-time estimate result in cruising time.As shown in Figure 3, in the time that state of flight is suddenlyd change, cruising time, predicted value and theoretical value had larger error, tended to be steady but work as state of flight, and predicated error reduces.

Fig. 4 shows the schematic diagram of the small size randomly changing of state of flight and discharge current random variation.

Simulate the state that miniature four rotors fly under physical environment, flying speed and state can change because of factors such as wind speed, temperature, barrier, time constraint conditions, thereby make battery operated at different states.Cruising time, estimation curve was as Fig. 4 in real time.Compare with Fig. 2, predicated error is slightly large, illustrates and considers that the precision of the estimating algorithm under random perturbation will be lower than the estimation precision under indoor ecotopia.

Those skilled in the art of the present technique be appreciated that step in the various operations discussed in the present invention, method, flow process, measure, scheme can by alternately, change, combination or delete.Further, have other steps in the various operations discussed in the present invention, method, flow process, measure, scheme also can by alternately, change, reset, decompose, combination or delete.Further, of the prior art have with the present invention in step in disclosed various operations, method, flow process, measure, scheme also can by alternately, change, reset, decompose, combination or delete.

The above is only part embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (8)

1. the electronic unmanned plane of a microminiature evaluation method in cruising time, is characterized in that, comprises the steps:

Step 1: in unmanned plane during flying, real-time current value and magnitude of voltage when the battery in collection unmanned plane discharges, and calculate the average discharge current I in unmanned plane continuation of the journey process _mwith average discharge volt U _m;

Step 2: according to real-time current and voltage data, carry out the average power demand P of unmanned plane during flying _reqcalculating;

Step 3: detect state-of-charge SOC and the residual capacity C (t) of battery, and carry out the calculating of the energy content of battery Q (t) in unmanned plane during flying task way;

Step 4: according to the average power demand P of unmanned plane during flying _reqwith the calculating of energy content of battery Q (t), draw the result of the residue T in cruising time (t) in real-time unmanned plane during flying task way.

2. the electronic unmanned plane of microminiature according to claim 1 evaluation method in cruising time, is characterized in that, described step 2 further comprises:

Power P _reqcomputing formula be:

p _req=p·η _e (3)

In formula, p is battery average power, η _efor the discharging efficiency of unmanned plane lithium battery.

3. the electronic unmanned plane of microminiature according to claim 2 evaluation method in cruising time, is characterized in that, the calculating of described p comprises:

p=U _m·I _m (4)

η _eestimation equation be,

${\mathrm{\&eta;}}_e=\frac{Q_0\&CenterDot;{\mathrm{\&eta;}}_m\&CenterDot;{\mathrm{\&eta;}}_{\mathrm{preq}}}{p\&CenterDot;T_0}---\left(5\right)$

In formula, Q ₀total amount of electric charge while being full of electricity for battery, T ₀for average actual cruising time.

4. the electronic unmanned plane of microminiature according to claim 3 evaluation method in cruising time, is characterized in that, described Q ₀estimation comprise:

Q ₀=C ₀·U _m (6)

C ₀computing formula be:

$C_0={\&Integral;}_0^{t_{\mathrm{EDV}}}I\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;}---\left(7\right)$

In formula, I (τ) is the real-time current of lithium battery electric discharge, t _eDVrefer to that the real-time voltage U (t) of battery reaches the time of discharge cut-off voltage.According to repeatedly electric current and the voltage curve of flight test, obtain battery rated capacity C ₀mean value.

5. the electronic unmanned plane of microminiature according to claim 3 evaluation method in cruising time, is characterized in that, described T ₀assay method be:

Lithium battery is discharged to cut-off voltage with steady current, and repeatedly experiment obtains the T in average actual cruising time of unmanned plane ₀.

6. the electronic unmanned plane of microminiature according to claim 1 evaluation method in cruising time, is characterized in that, described step 3 further comprises:

The relational model of the energy content of battery and capacity is,

Q=C·U _m (8)

In formula, C represents battery capacity, U _mfor battery average discharge volt.

7. the electronic unmanned plane of microminiature according to claim 6 evaluation method in cruising time, is characterized in that, described step 3 further comprises:

If want the real-time energy Q (t) of estimating battery, first want the residual capacity C (t) of estimating battery, this needs the state-of-charge SOC of estimating battery,

C(t)=C ₀·SOC(t) (9)

Select following SOC computing formula,

$\mathrm{SOC}\left(t\right)={\mathrm{SOC}}_0-\frac{1}{C_0}{\&Integral;}_0^{t}I\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;}---\left(10\right)$

In formula, SOC ₀refer to the state-of-charge of battery at initial time, the battery discharge current that I (τ) surveyed for the τ moment, C ₀for the battery rated capacity obtaining in step 2,

Can obtain:

$Q\left(t\right)=C_0({\mathrm{SOC}}_0-\frac{1}{C_0}{\&Integral;}_0^{t}I\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;})\stackrel{\&OverBar;}{U}\left(t\right)---\left(11\right)$

In formula,

it is the average of battery discharge voltage measured value between 0～t moment.

8. the electronic unmanned plane of microminiature according to claim 6 evaluation method in cruising time, is characterized in that, described step 4 further comprises:

$T\left(t\right)=\frac{Q\left(t\right){\mathrm{\&eta;}}_m{\mathrm{\&eta;}}_{\mathrm{preq}}}{p_{\mathrm{req}}}=\frac{C_0\&CenterDot;({\mathrm{SOC}}_0-\frac{1}{C_0}{\&Integral;}_0^{t}I\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;})\&CenterDot;\stackrel{\&OverBar;}{U}\left(t\right){\mathrm{\&eta;}}_m{\mathrm{\&eta;}}_{\mathrm{preq}}}{p_{\mathrm{req}}}---\left(12\right).$

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