CN104267737B - One kind can be to day solar battery quadrotor - Google Patents
One kind can be to day solar battery quadrotor Download PDFInfo
- Publication number
- CN104267737B CN104267737B CN201410486020.4A CN201410486020A CN104267737B CN 104267737 B CN104267737 B CN 104267737B CN 201410486020 A CN201410486020 A CN 201410486020A CN 104267737 B CN104267737 B CN 104267737B
- Authority
- CN
- China
- Prior art keywords
- quadrotor
- solar
- day
- energy
- design
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Photovoltaic Devices (AREA)
Abstract
本发明提供一种可对日跟踪型太阳能四旋翼飞行器设计方案，该设计方案将对日跟踪机构和可实现两轴转动的太阳能电池模块运用到传统的四旋翼飞行器中。利用跟踪传感器和调节电机的实时调节，使太阳能电池模块长时供能、最大限度的输出太阳能量。此方案可以解决传统四旋翼飞行器留空时间短这一致命缺陷，从而将四旋翼飞行器的应用优势得到充分发挥。同时，两轴电机的使用能够实现太阳能电池模块一次性转动到最佳方位，从而节省了四旋翼飞行器系统的能源，最大功率跟踪器的运用可以使太阳能电池模块始终在最大功率点工作，进而最大限度的利用太阳能。
The invention provides a design scheme of a sun-tracking solar quadrotor aircraft. The design scheme applies a sun-tracking mechanism and a solar cell module capable of two-axis rotation to a traditional quadrotor aircraft. Using the tracking sensor and the real-time adjustment of the motor, the solar cell module can supply energy for a long time and output solar energy to the maximum extent. This solution can solve the fatal flaw of the traditional quadrotor aircraft, which is short in the air, so that the application advantages of the quadrotor aircraft can be fully utilized. At the same time, the use of two-axis motors can realize the solar cell module to rotate to the best position at one time, thereby saving the energy of the quadrotor aircraft system. The application of the maximum power tracker can make the solar cell module always work at the maximum power point, and then the maximum Maximize the use of solar energy.
Description
一、技术领域：1. Technical field:
本发明提供一种可对日跟踪型太阳能四旋翼飞行器的设计方案，属于航空航天器能源系统技术领域。The invention provides a design scheme of a sun-tracking solar quadrotor aircraft, which belongs to the technical field of aerospace vehicle energy systems.
二、背景技术：2. Background technology:
四旋翼飞行器采用四个旋翼作为飞行的直接动力源，旋翼对称分布在机体的前后、左右四个方向，四个旋翼处于同一高度平面，且四个旋翼的结构和半径都相同，对角线的旋翼旋转方向相同，一组顺时针旋转，另一组逆时针旋转，这样就可以平衡旋翼对机身的反扭矩。四个电机对称的安装在飞行器的支架端，支架中间空间安放飞行控制计算机和外部设备。四旋翼飞行器能够自由悬停和垂直起降，结构简单，易于控制。相对其他类型的飞行器而言，四旋翼飞行器结构紧凑，能产生更大的升力。这些优势决定了其具有广泛的应用领域，不但具有一般战场需要的各种作战功能，比如对目标区域的定点监测，为其他作战武器指示目标等，甚至可以作为投放武器的载体。The quadrotor aircraft uses four rotors as the direct power source for the flight. The rotors are symmetrically distributed in the front, rear, left and right directions of the body. The four rotors are on the same height plane, and the structures and radii of the four rotors are the same. The rotors rotate in the same direction, one group rotates clockwise, and the other group rotates counterclockwise, so that the counter torque of the rotor to the fuselage can be balanced. The four motors are symmetrically installed on the bracket end of the aircraft, and the flight control computer and external equipment are placed in the middle space of the bracket. The quadrotor aircraft can hover freely and take off and land vertically, and has a simple structure and is easy to control. Compared with other types of aircraft, quadrotors are compact and can generate greater lift. These advantages determine that it has a wide range of application fields. It not only has various combat functions required by the general battlefield, such as fixed-point monitoring of target areas, indicating targets for other combat weapons, etc., it can even be used as a carrier for launching weapons.
四旋翼飞行器一般靠锂电池提供能源，给四个电机提供电流，从而驱动电机旋转。但是受到锂电池能量密度和飞行器结构重量的限制，四旋翼飞行器上携带的锂电池有限，又由于锂电池的储能是其唯一的能量来源，所以四旋翼飞行器的滞空时间必然受到影响。留空时间短这一特点成了四旋翼飞行器致命的弱点。近年来，太阳能电池技术迅速发展，可以将太阳能应用技术与飞行平台相结合，从而为解决四旋翼飞行器留空时间短问题提供一种思路。Quadrotor aircraft generally rely on lithium batteries to provide energy, which provides current to the four motors to drive the motors to rotate. However, limited by the energy density of lithium batteries and the structural weight of the aircraft, the lithium batteries carried on the quadrotor aircraft are limited, and because the energy storage of lithium batteries is its only energy source, the flight time of the quadrotor aircraft will inevitably be affected. The feature of short air time has become the fatal weakness of quadrotor aircraft. In recent years, the rapid development of solar cell technology can combine solar energy application technology with flying platforms, thus providing a way to solve the problem of short flight time of quadrotor aircraft.
为此，通过将日渐成熟太阳能电池技术以及对日跟踪机构运用到四旋翼飞行器上，本发明提供了一种能够对日跟踪的、可充分利用太阳能实现长时间留空飞行的新型四旋翼飞行器设计方案。For this reason, by applying the increasingly mature solar cell technology and the sun tracking mechanism to the quadrotor aircraft, the present invention provides a new quadrotor aircraft design that can track the sun and can make full use of solar energy to realize long-term flight. plan.
三、发明内容：3. Contents of the invention:
(1)目的：本发明提供了一种能够对日跟踪的、可充分利用太阳能实现长时间留空飞行的新型四旋翼飞行器设计方案，该方案将太阳能电池技术和对日跟踪机构运用到四旋翼飞行器的设计中，利用跟踪传感器和调节电机的实时调节，实现对太阳能最大能量的获取，可以解决传统四旋翼飞行器留空时间短这一致命缺陷，从而将四旋翼飞行器的应用优势得到充分发挥。(1) Purpose: The present invention provides a design scheme of a novel four-rotor aircraft capable of tracking the sun, which can make full use of solar energy to realize long-time flight in the air. In the design of the aircraft, the tracking sensor and the real-time adjustment of the motor are used to obtain the maximum energy from the solar energy, which can solve the fatal flaw of the traditional quadrotor aircraft, which is short in the air, so that the application advantages of the quadrotor aircraft can be fully utilized.
(2)技术方案：本发明是一种可对日跟踪型太阳能四旋翼飞行器设计方案，该方案是在常规四旋翼飞行器的四个旋翼交叉点(即中心位置)安装对日跟踪传感器，实时测量太阳方位；四个旋翼构成的四条边的中点位置安装可实现两轴转动的太阳能电池模块，以跟踪传感器的测量角度为目标点。(2) Technical scheme: the present invention is a kind of design scheme of solar quadrotor aircraft that can track the sun, this scheme is to install the tracking sensor for the sun at four rotor intersections (i.e. central position) of conventional quadrotor aircraft, real-time measurement The sun orientation; the midpoint of the four sides formed by the four rotors is installed with a solar cell module that can realize two-axis rotation, and the measurement angle of the tracking sensor is used as the target point.
上述方案利用跟踪传感器和调节电机的实时调节，不仅能够准确测量太阳各个时刻的方位角，进而检测太阳光是否垂直入射太阳能电池板。而且，当太阳光偏离电池板法线时，传感器发出偏差信号，经过控制执行机构使太阳能电池板重新对正太阳，使太阳能电池模块能够长时、最大限度的输出太阳能量。同时，两轴电机的使用能够实现太阳能电池模块一次性转动到最佳方位，从而节省了四旋翼飞行器系统的能源。The above solution utilizes the tracking sensor and the real-time adjustment of the adjusting motor, which not only can accurately measure the azimuth angle of the sun at each moment, but also detect whether the sunlight is vertically incident on the solar panel. Moreover, when the sunlight deviates from the normal line of the panel, the sensor sends out a deviation signal, and the solar panel is re-aligned to the sun through the control of the actuator, so that the solar cell module can output solar energy to the maximum for a long time. At the same time, the use of the two-axis motor can realize the one-time rotation of the solar cell module to the optimal position, thereby saving the energy of the quadrotor aircraft system.
所述对日跟踪器主要由外壳、接口电线、探头以及安装于壳内的电路组成。The sun tracker is mainly composed of a shell, an interface wire, a probe and a circuit installed in the shell.
该外壳包括半球形盖子和圆柱形底座。The housing includes a hemispherical cover and a cylindrical base.
其中，盖子为空心半球体，其上有多个通孔，用于安装感光探头，各个通孔的中心延长线汇交于半球体的球心。Wherein, the cover is a hollow hemisphere with a plurality of through holes for installing photosensitive probes, and the central extension lines of each through hole meet at the center of the hemisphere.
其中，底座为空心圆柱体，用于安装电路板和相应元器件，且底座外部设有安装空位，用于固定安装整个传感器。Wherein, the base is a hollow cylinder for installing circuit boards and corresponding components, and there is an installation space outside the base for fixing and installing the entire sensor.
该接口电线与外部电路和控制器相连。The interface wire is connected with the external circuit and the controller.
该探头由镜筒、凸透镜和一只光敏电阻器组成。The probe consists of a lens barrel, a convex lens and a photoresistor.
其中，镜筒采用吸光能力较强的纯黑色塑料材质，可大大减小太阳光在镜筒内壁上的反射。Among them, the lens barrel is made of pure black plastic material with strong light absorption ability, which can greatly reduce the reflection of sunlight on the inner wall of the lens barrel.
其中，光敏电阻器安装在凸透镜的焦点(太阳正射凸透镜时)位置上方，且在镜筒的中心线上。Wherein, the photoresistor is installed above the focal point of the convex lens (when the sun is directly shining on the convex lens) and on the centerline of the lens barrel.
该电路包括光电转化电路、倾角检测电路。光电转化电路利用光敏电阻器与固定阻值电阻器串联组成分压电路，将太阳光变化转化成电压变化；倾角检测电路采用双轴倾角传感器实现倾角检测。The circuit includes a photoelectric conversion circuit and an inclination detection circuit. The photoelectric conversion circuit uses a photoresistor connected in series with a fixed resistance resistor to form a voltage divider circuit, which converts sunlight changes into voltage changes; the inclination detection circuit uses a dual-axis inclination sensor to realize inclination detection.
所述两轴电机主要由步进电机、传动轴、控制盒以及支架构成。当控制系统接收到来自传感器的转动信号后,控制系统将会根据传感器的信号进行判断需要驱动那个方位的步进电机,然后分为两路控制信号输出给步进电机驱动器一路控制信号驱动水平方位步进电机驱动器,带动固定在支架上的主轴转动,用来实现太阳光线水平方位的跟踪；另一路控制信号驱动垂直方位步进电机带动太阳电池板相对与支架转动,用来实现对太阳光线高度角的跟踪。The two-axis motor is mainly composed of a stepping motor, a transmission shaft, a control box and a bracket. When the control system receives the rotation signal from the sensor, the control system will judge the stepper motor that needs to drive the direction according to the signal from the sensor, and then divide it into two control signals and output them to the stepper motor driver. One control signal drives the horizontal direction. The stepper motor driver drives the main shaft fixed on the bracket to rotate, which is used to track the horizontal orientation of the sun's rays; another control signal drives the vertical orientation stepping motor to drive the solar panel to rotate relative to the bracket, to realize the height tracking of the sun's rays. corner tracking.
所述的太阳能电池模块是由硅基光伏电池组成的太阳能电池阵列。由于光伏电池具有非线性的电流-电压(I-V)特性并且输出特性依赖于功率载荷，因此，称为最大功率点跟踪的技术(Maximum Power Point Tracking，MPPT)对提升光伏电池的整体能量利用效率具有重要的影响。所谓MPPT就是一套对光伏电池和储能电池的电流和电压进行监视的电子器件和一组可调节增益的DC/DC转换器。通过改变增益，MPPT能使从光伏电池中获取的能量达到最大值。通过最大功率跟踪器的运用，可以时刻追踪太阳能电池模块的最大功率输出点，并始终保持其在最大功率点工作，进而使太阳能最大限度的为四旋翼飞行器提供能量。The solar cell module is a solar cell array composed of silicon-based photovoltaic cells. Since photovoltaic cells have nonlinear current-voltage (I-V) characteristics and output characteristics depend on power loads, a technology called Maximum Power Point Tracking (MPPT) has an important role in improving the overall energy utilization efficiency of photovoltaic cells. important influence. The so-called MPPT is a set of electronic devices that monitor the current and voltage of photovoltaic cells and energy storage batteries and a set of DC/DC converters with adjustable gain. By changing the gain, MPPT can maximize the energy harvested from the photovoltaic cell. Through the use of the maximum power tracker, the maximum power output point of the solar battery module can be tracked at all times, and it can always be kept working at the maximum power point, so that the solar energy can provide energy for the quadrotor aircraft to the maximum extent.
本发明一种可对日跟踪型太阳能四旋翼飞行器，其基本设计方案如下：A kind of sun-tracking type solar quadrotor aircraft of the present invention, its basic design scheme is as follows:
1.结合预设的技术参数和任务参数(包括任务载荷、留空时间、最大飞行速度以及最大飞行高度等)以及升重平衡、推阻平衡、能量平衡原则，对新型四旋翼飞行器进行概念设计，并对设计方案进行论证以及仿真验证；1. Combining the preset technical parameters and mission parameters (including mission load, air time, maximum flight speed and maximum flight altitude, etc.) , and demonstrate and simulate the design scheme;
2.进行四旋翼飞行器的机载平台，包括机体、软件系统和电子部件这三大部分；2. Carry out the airborne platform of the quadrotor aircraft, including the three parts of the airframe, software system and electronic components;
3.与此同时，设计对日跟踪机构，要求能够时刻精确的监测太阳方位角的变化。此部分设计包括外形设计(透镜的焦距和探头的个数等)和电路设计(包括光电转化电路和倾角检测电路)两大部分；3. At the same time, the design of the sun tracking mechanism requires the ability to accurately monitor the change of the sun's azimuth angle at all times. This part of the design includes two parts: appearance design (focal length of lens and number of probes, etc.) and circuit design (including photoelectric conversion circuit and inclination detection circuit);
4.检验对日跟踪机构工作状态；4. Inspect the working status of the daily tracking agency;
5.进行两轴电机的设计。为了提高新型四旋翼飞行器的飞行性能，在能够达到系统功能的前提下，对两轴电机机械结构进行优化，尽量减轻电机的重量。此外对电机的控制器进行设计；5. Design the two-axis motor. In order to improve the flight performance of the new quadrotor aircraft, on the premise that the system function can be achieved, the mechanical structure of the two-axis motor is optimized to reduce the weight of the motor as much as possible. In addition, the controller of the motor is designed;
6.与此同时，考虑到新型四旋翼飞行器飞行过程受力的均衡性，对四个两轴电机进行合理布局；6. At the same time, considering the force balance of the new quadrotor aircraft during flight, the four two-axis motors are rationally arranged;
7.检验两轴电机的工作状况；7. Check the working condition of the two-axis motor;
8.进行硅基光伏电池输出特性的研究，保证太阳能电池在实际中输出的功率能够满足系统能源的需求功率；8. Carry out research on the output characteristics of silicon-based photovoltaic cells to ensure that the actual output power of solar cells can meet the demand power of system energy;
9.与此同时，按照理论铺设面积，对太阳能电池片的进行铺设，组成太阳能电池模块，并安装最大功率跟踪器；9. At the same time, according to the theoretical laying area, the solar cells are laid to form a solar cell module, and the maximum power tracker is installed;
10.测试太阳能电池模块的性能；10. Test the performance of the solar cell module;
11.进行整个系统的总装工作。包括四旋翼飞行器机身、对日跟踪机构、两轴电机以及太阳能电池模块这四大主体部分；11. Carry out the final assembly of the whole system. Including the four main parts of the quadrotor aircraft fuselage, the sun tracking mechanism, the two-axis motor and the solar cell module;
12.与此同时，进行各个模块之间的电路连接以及软件的结合；12. At the same time, the circuit connection between each module and the combination of software are carried out;
13.最后，对整个新型四旋翼飞行器进行试验验证。13. Finally, test and verify the whole new quadrotor aircraft.
(3)优点及功效：本发明一种可对日跟踪型太阳能四旋翼飞行器，利用跟踪传感器和调节电机的实时调节，能够时刻准确测量太阳各个时刻的方位角。而且，当太阳光偏离电池板法线时，传感器发出偏差信号，经过两轴电机调整使太阳能电池板重新对正太阳，从而太阳能电池模块能够长时、最大限度的输出太阳能量。同时，两轴电机的使用能够实现太阳能电池模块一次性转动到最佳方位，从而节省了四旋翼飞行器系统的能源。通过本发明，可以解决常规四旋翼飞行器留空时间短这一致命缺陷。(3) Advantages and effects: a solar quadrotor aircraft capable of tracking the sun of the present invention can accurately measure the azimuth angle of the sun at each moment by utilizing the tracking sensor and the real-time adjustment of the regulating motor. Moreover, when the sunlight deviates from the normal line of the solar panel, the sensor sends out a deviation signal, and the solar panel is adjusted to face the sun again through the adjustment of the two-axis motor, so that the solar battery module can output solar energy to the maximum extent for a long time. At the same time, the use of the two-axis motor can realize the one-time rotation of the solar cell module to the optimal position, thereby saving the energy of the quadrotor aircraft system. Through the invention, the fatal defect of the conventional four-rotor aircraft, which is short in space time, can be solved.
四、附图说明：4. Description of drawings:
图1为本发明一种可对日跟踪型太阳能四旋翼飞行器的结构示意图；Fig. 1 is the structural representation of a kind of sun-tracking type solar quadrotor aircraft of the present invention;
图2为双轴电机的结构示意图；Fig. 2 is a structural schematic diagram of a biaxial motor;
图3为对日跟踪传感器的结构示意图。Figure 3 is a structural schematic diagram of the sun tracking sensor.
图中标号说明如下：The symbols in the figure are explained as follows:
1.螺旋桨驱动电机， 2.螺旋桨桨叶， 3.四旋翼飞行器机架,1. Propeller drive motor, 2. Propeller blades, 3. Quadcopter frame,
4.四旋翼飞行器控制机构， 5.双轴电机， 6.太阳能电池模块,4. Quadrotor control mechanism, 5. Biaxial motor, 6. Solar battery module,
7.对日跟踪传感器， 8.水平方位电机， 9.垂直方位电机，7. Sun tracking sensor, 8. Horizontal azimuth motor, 9. Vertical azimuth motor,
10.传动轴， 11.电机控制盒， 12.最大功率跟踪器，10. Transmission shaft, 11. Motor control box, 12. Maximum power tracker,
13.双轴电机机架， 14.传感器探头， 15.传感器底座，13. Two-axis motor frame, 14. Sensor probe, 15. Sensor base,
16.传感器盖子， 17.传感器电线，16. Sensor cover, 17. Sensor wire,
五、具体实施方式：5. Specific implementation methods:
下面结合图1、2、3对本发明中的一种可对日跟踪型太阳能四旋翼飞行器作进一步的说明：Below in conjunction with Fig. 1,2,3 a kind of in the present invention can be further described to day tracking type solar quadrotor aircraft:
本发明提供了一种能够对日跟踪的、可充分利用太阳能实现长时间留空飞行的新型四旋翼飞行器设计方案，如图1所示，该方案是在常规四旋翼飞行器(包括电机1、螺旋桨桨叶2、机架3以及控制器4)的四个旋翼交叉点(即中心位置)安装对日跟踪传感器7，实时测量太阳方位；四个旋翼构成的四条边的中点位置安装了两轴电机5以及可转动的太阳能电池模块6，以跟踪传感器的测量角度为目标点。两轴电机的使用能够实现太阳能电池模块一次性转动到最佳方位，不仅能够节省系统能量，而且可以实现对太阳能最大能量的获取。The present invention provides a kind of novel four-rotor aircraft design scheme that can make full use of solar energy to realize long-time airborne flight that can track day, as shown in Fig. The four rotor intersections (i.e. the central position) of the propeller 2, the frame 3 and the controller 4) are equipped with a sun tracking sensor 7 to measure the sun azimuth in real time; The motor 5 and the rotatable solar cell module 6 take the measurement angle of the tracking sensor as the target point. The use of the two-axis motor can realize the one-time rotation of the solar battery module to the best position, which can not only save system energy, but also realize the maximum energy acquisition of solar energy.
该双轴电机如图2所示，在电机机架13上和底座15上设有水平方位电机8和垂直方位电机9，两个电机分别驱动各自的传动轴10，同时电机的驱动受电机控制盒11控制。This biaxial motor is as shown in Figure 2, is provided with horizontal azimuth motor 8 and vertical azimuth motor 9 on motor frame 13 and base 15, and two motors drive respective transmission shaft 10 respectively, and the driving of motor is controlled by motor simultaneously Box 11 controls.
该对日跟踪传感器如图3所示，其外壳包括圆柱形底座15和半球形盖子16，盖子顶部设有多个通孔，用于安装传感器探头14，圆柱形底座下边有传感器电线17，用于连接外部其他设备。This day tracking sensor is as shown in Figure 3, and its shell comprises cylindrical base 15 and hemispherical cover 16, and cover top is provided with a plurality of through holes, is used for installing sensor probe 14, and sensor wire 17 is arranged on the bottom of cylindrical base, with For connecting other external devices.
本发明一种可对日跟踪型太阳能四旋翼飞行器，其基本设计方案如下：A kind of sun-tracking type solar quadrotor aircraft of the present invention, its basic design scheme is as follows:
1.结合预设的技术参数和任务参数(包括任务载荷、留空时间、最大飞行速度以及最大飞行高度等)以及升重平衡、推阻平衡、能量平衡原则，对新型四旋翼飞行器进行概念设计，并对设计方案进行论证以及仿真验证；1. Combining the preset technical parameters and mission parameters (including mission load, air time, maximum flight speed and maximum flight altitude, etc.) , and demonstrate and simulate the design scheme;
2.进行四旋翼飞行器的机载平台，包括机体、软件系统和电子部件这三大部分；2. Carry out the airborne platform of the quadrotor aircraft, including the three parts of the airframe, software system and electronic components;
3.与此同时，设计对日跟踪机构，要求能够时刻精确的监测太阳方位角的变化。此部分设计包括外形设计(透镜的焦距和探头的个数等)和电路设计(包括光电转化电路和倾角检测电路)两大部分；3. At the same time, the design of the sun tracking mechanism requires the ability to accurately monitor the change of the sun's azimuth angle at all times. This part of the design includes two parts: appearance design (focal length of lens and number of probes, etc.) and circuit design (including photoelectric conversion circuit and inclination detection circuit);
4.检验对日跟踪机构工作状态；4. Inspect the working status of the daily tracking agency;
5.进行两轴电机的设计。为了提高新型四旋翼飞行器的飞行性能，在能够达到系统功能的前提下，对两轴电机机械结构进行优化，尽量减轻电机的重量。此外对电机的控制器进行设计；5. Design the two-axis motor. In order to improve the flight performance of the new quadrotor aircraft, on the premise that the system function can be achieved, the mechanical structure of the two-axis motor is optimized to reduce the weight of the motor as much as possible. In addition, the controller of the motor is designed;
6.与此同时，考虑到新型四旋翼飞行器飞行过程受力的均衡性，对四个两轴电机进行合理布局；6. At the same time, considering the force balance of the new quadrotor aircraft during flight, the four two-axis motors are rationally arranged;
7.检验两轴电机的工作状况；7. Check the working condition of the two-axis motor;
8.进行硅基光伏电池输出特性的研究，保证太阳能电池在实际中输出的功率能够满足系统能源的需求功率；8. Carry out research on the output characteristics of silicon-based photovoltaic cells to ensure that the actual output power of solar cells can meet the demand power of system energy;
9.与此同时，按照理论铺设面积，对太阳能电池片的进行铺设，组成太阳能电池模块，并安装最大功率跟踪器；9. At the same time, according to the theoretical laying area, the solar cells are laid to form a solar cell module, and the maximum power tracker is installed;
10.测试太阳能电池模块的性能；10. Test the performance of the solar cell module;
11.进行整个系统的总装工作。包括四旋翼飞行器机身、对日跟踪机构、两轴电机以及太阳能电池模块这四大主体部分；11. Carry out the final assembly of the whole system. Including the four main parts of the quadrotor aircraft fuselage, the sun tracking mechanism, the two-axis motor and the solar cell module;
12.与此同时，进行各个模块之间的电路连接以及软件的结合；12. At the same time, the circuit connection between each module and the combination of software are carried out;
13.最后，对整个新型四旋翼飞行器进行试验验证。13. Finally, test and verify the whole new quadrotor aircraft.
应当指出，本实例仅列示性说明本发明的应用方法，而非用于限制本发明。任何熟悉此种使用技术的人员，均可在不违背本发明的精神及范围下，对上述实施例行修改。因此，本发明的权利保护范围，应如权利要求书所述。It should be noted that this example only illustrates the application method of the present invention, and is not intended to limit the present invention. Any person familiar with this technique can modify the above-mentioned embodiments without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be described in the claims.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410486020.4A CN104267737B (en) | 2014-09-22 | 2014-09-22 | One kind can be to day solar battery quadrotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410486020.4A CN104267737B (en) | 2014-09-22 | 2014-09-22 | One kind can be to day solar battery quadrotor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104267737A CN104267737A (en) | 2015-01-07 |
| CN104267737B true CN104267737B (en) | 2017-07-14 |
Family
ID=52159265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410486020.4A Active CN104267737B (en) | 2014-09-22 | 2014-09-22 | One kind can be to day solar battery quadrotor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104267737B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI528989B (en) * | 2015-04-10 | 2016-04-11 | wen-chang Xiao | Can independently block the light of the aircraft |
| CN104908955B (en) * | 2015-05-22 | 2017-04-12 | 中国科学院物理研究所 | Multi-shaft unmanned aerial vehicle |
| CN105015784A (en) * | 2015-05-26 | 2015-11-04 | 陶文英 | Design method and system for realizing long-endurance flight of multi-rotor aircraft |
| CN105048545B (en) * | 2015-07-13 | 2017-07-11 | 国鹰航空科技有限公司 | Photovoltaic quadrotor |
| GB2568003A (en) * | 2016-09-09 | 2019-05-01 | Walmart Apollo Llc | Solar rechargeable unmanned vehicle systems and methods to monitor a geographic area |
| CN111377052A (en) * | 2018-12-28 | 2020-07-07 | 东汉太阳能无人机技术有限公司 | Photovoltaic power supply aircraft and photovoltaic cell module power adjusting method thereof |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7637457B2 (en) * | 2004-04-30 | 2009-12-29 | Lawrence Livermore National Security, Llc | Rankine-Brayton engine powered solar thermal aircraft |
| CN102244481A (en) * | 2010-05-12 | 2011-11-16 | 上海超日太阳能科技股份有限公司 | Solar orientation biaxial fully-automatic tracking control power generation equipment |
| CN102156483B (en) * | 2011-04-25 | 2012-11-07 | 华南农业大学 | Solar tracking device based on screw rod transmission and controlling and adjusting method thereof |
| CN102393756A (en) * | 2011-11-04 | 2012-03-28 | 江苏白兔科创新能源股份有限公司 | Solar sun tracking controller |
| CN103268120A (en) * | 2013-06-09 | 2013-08-28 | 东南大学 | A self-resetting device for a quadrotor aircraft |
| CN103600846B (en) * | 2013-12-04 | 2016-07-13 | 新誉集团有限公司 | Solar powered aircraft maximal power tracing cell array mechanism and tracking |
| CN103762937B (en) * | 2013-12-31 | 2017-01-18 | 深圳易能电气技术股份有限公司 | MPPT photovoltaic inverter control system and control method thereof |
| CN203812096U (en) * | 2014-04-03 | 2014-09-03 | 昆明理工大学 | Photoelectric solar tracking sensor |
| CN103895462A (en) * | 2014-04-15 | 2014-07-02 | 北京航空航天大学 | Land and air search and rescue device capable of detecting human face and achieving photovoltaic power generation |
| CN104044741B (en) * | 2014-06-26 | 2015-12-09 | 金陵科技学院 | An unmanned aerial vehicle capable of solar tracking and its charging process |
-
2014
- 2014-09-22 CN CN201410486020.4A patent/CN104267737B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104267737A (en) | 2015-01-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104267737B (en) | One kind can be to day solar battery quadrotor | |
| US9559632B2 (en) | Solar propelled aircraft structure | |
| CN107340785B (en) | A tracking method and controller for double-sided photovoltaic cell modules based on intelligent control | |
| KR20130096443A (en) | Flight simulation system for evaluation of unmanned aerial vehicle based on solar energy | |
| CN206023672U (en) | A kind of solar energy cell plate mounting bracket | |
| CN208112545U (en) | Solar automatic tracking photovoltaic power generation device based on single-chip microcomputer control | |
| CN110341948A (en) | A child-mother cooperative inspection flying robot | |
| CN102841611A (en) | Solar module automatic tracking method based on photovoltaic power station monitoring system and system therein | |
| CN104457978B (en) | A kind of light intensity detector and its detection method | |
| CN105094156A (en) | Cup-type distribution photovoltaic power generation self-tracking system and control method | |
| CN105222776A (en) | The analog sun sensor of a kind of dual-axis miniature | |
| CN205356221U (en) | Photovoltaic power generation device capable of automatically tracking solar energy | |
| CN213168607U (en) | Special test platform of unmanned aerial vehicle | |
| CN105136140B (en) | A kind of photoelectric subassembly for the analog sun sensor of dual-axis miniature | |
| CN110266257B (en) | Unmanned ship fan-shaped solar charging device for water quality detection | |
| CN114441202A (en) | Ground evaluation system and method for solar cell high-altitude calibration device and electronic equipment | |
| CN207008412U (en) | A kind of four rotor multi-mode aircraft | |
| CN204615733U (en) | Solar cell system and aircraft | |
| CN112783212A (en) | Photovoltaic power generation patrols and examines and uses unmanned aerial vehicle | |
| CN218662217U (en) | Wisdom is balance car for farmland | |
| CN108512493B (en) | A solar panel drive | |
| CN207725615U (en) | The self-balancing wing of unmanned plane | |
| Majorov et al. | Automated sun-tracking system as part of the photovoltaic thermal installation with solar radiation concentration | |
| CN204776038U (en) | Miniature solar energy reconnaisance flight vehicle that combines ke enda effect | |
| CN205178985U (en) | Photovoltaic module angle of incidence factor of influence testing arrangement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20150107 Assignee: TIANJIN TIANHANG ZHIYUAN TECHNOLOGY CO.,LTD. Assignor: BEIHANG University Contract record no.: X2022990000946 Denomination of invention: A Solar Quadrotor Aircraft with Tracking to the Sun Granted publication date: 20170714 License type: Common License Record date: 20221201 |
|
| EE01 | Entry into force of recordation of patent licensing contract |