CN104267737B - One kind can be to day solar battery quadrotor - Google Patents
One kind can be to day solar battery quadrotor Download PDFInfo
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- 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
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Abstract
The present invention provides one kind and day solar battery quadrotor design, the design will can be applied in traditional quadrotor to day follower with the solar module that can realize the rotation of two axles.Using the real-time regulation of tracking transducer and regulation motor, energized when making solar module long, export solar energy to greatest extent.This scheme can solve this short critical defect of traditional quadrotor airborne period, so that the application advantage of quadrotor be not fully exerted.Simultaneously, the use of two spindle motors can realize that solar module disposably turns to best orientation, so as to save the energy of quadrotor system, the utilization of maximal power tracing device can make solar module be worked all the time in maximum power point, and then utilize solar energy to greatest extent.
Description
First, technical field：
The present invention is provided a kind of can belong to aerospace vehicle to the design of day solar battery quadrotor
Energy resource system technical field.
2nd, background technology：
Quadrotor is symmetrically distributed in before body using direct driving force source of four rotors as flight, rotor
Afterwards, left and right four direction, four rotors are in sustained height plane, and the structure and radius of four rotors are all identical, diagonal
Rotor wing rotation direction it is identical, one group turns clockwise, another group of rotate counterclockwise, can thus balance rotor to fuselage
Reaction torque.Four motors are symmetrically installed on the bracket end of aircraft, and support intermediate space lays flight-control computer and outer
Portion's equipment.Quadrotor can freely hover and VTOL, simple in construction, it is easy to control.It is relatively other kinds of to fly
For row device, quadrotor compact conformation can produce bigger lift.These advantages determine that it has a wide range of applications
Field, the various fight functions not only needed with general battlefield, such as the fixed point monitoring to target area is other forces of fighting
Device indicates target etc., it might even be possible to be used as the carrier for delivering weapon.
Quadrotor typically provides the energy by lithium battery, and electric current is provided to four motors, so that motor rotates.
But limited by lithium battery energy density and Flight Vehicle Structure weight, the lithium battery carried on quadrotor is limited,
Again because the energy storage of lithium battery is its unique energy source, so the hang time of quadrotor is necessarily affected.
This short feature of airborne period is into the fatal weakness of quadrotor.In recent years, solar battery technology is developed rapidly, can
So that Application of Solar Energy technology to be combined with flying platform, so as to provide one to solve the short problem of quadrotor airborne period
Plant thinking.
Therefore, by the way that increasingly ripe solar battery technology and to day follower quadrotor will be applied to
On, the invention provides it is a kind of it is day being tracked, solar energy can be made full use of to realize for a long time leave a blank new the four of flight
Rotorcraft design scheme.
3rd, the content of the invention：
(1) purpose：The invention provides it is a kind of can to day track, can make full use of solar energy realize for a long time leave a blank
The new quadrotor design of flight, the program applies to four rotations by solar battery technology and to day follower
In the design of rotor aircraft, using the real-time regulation of tracking transducer and regulation motor, realization is obtained to solar energy ceiling capacity
Take, this short critical defect of traditional quadrotor airborne period can be solved, so that the application of quadrotor is excellent
Gesture is not fully exerted.
(2) technical scheme：The present invention is that one kind can be to day solar battery quadrotor design, the program
It is to be installed in four rotor crosspoints (i.e. center) of conventional quadrotor to day tracking transducer, measurement in real time is too
Positive orientation；The point midway for the four edges that four rotors are constituted, which is installed, can be achieved the solar module that two axles are rotated, with
The measurement angle of track sensor is target point.
Such scheme using tracking transducer and regulation motor real-time regulation, can not only accurately measure the sun each when
The azimuth at quarter, so detect sunshine whether vertical incidence solar panel.Moreover, when sunshine deviates cell panel normal
When, sensor sends deviation signal, by controlling executing agency solar panel is aligned the sun again, makes solar cell
When module can be long, solar energy is exported to greatest extent.Meanwhile, the use of two spindle motors can realize solar module
Best orientation disposably is turned to, so as to save the energy of quadrotor system.
It is described that sun-tracker is mainly made up of shell, interface electric wire, the circuit popped one's head in and be installed in shell.
The shell includes semispherical cap and cylindrical base.
Wherein, lid is hollow hemisphere, there is multiple through holes thereon, for installing sensitive probe, the center of each through hole
Extended line intersects at the hemispheroidal centre of sphere.
Wherein, base is hollow cylinder, and for mounting circuit boards and corresponding component, and base exterior is empty provided with installing
Position, for whole sensor to be fixedly mounted.
The interface electric wire is connected with external circuit and controller.
The probe is made up of lens barrel, convex lens and a photo-resistor.
Wherein, lens barrel can greatly reduce sunshine in lens barrel inwall using the stronger ater plastic material of absorbing ability
On reflection.
Wherein, photo-resistor is arranged on above focus (when the sun just penetrates convex lens) position of convex lens, and in lens barrel
Center line on.
The circuit includes photoelectric conversion circuit, inclination angle detection circuit.Photoelectric conversion circuit utilizes photo-resistor and fixation
Resistance resistors are composed in series bleeder circuit, and sunshine change is changed into voltage change；Inclination angle detection circuit is inclined using twin shaft
Angle transducer realizes inclination angle detection.
Two spindle motor is mainly made up of stepper motor, power transmission shaft, control box and support.When control system is received
After turn signal from sensor, control system will carry out judging to need to drive that orientation according to the signal of sensor
Stepper motor, be then divided into two path control signal export to stepper motor driver all the way control signal driving level orientation stepping
Motor driver, drives the main axis being fixed on support, for realizing the tracking of sunray level orientation；Another road control
Signal driving vertical orientations stepper motor processed drives solar panel relative and holder pivots, for realizing to sunray highly
The tracking at angle.
The solar battery array that described solar module is made up of silicon-based photovoltaic cells.Due to photovoltaic cell
Power loading is depended on nonlinear current-voltage (I-V) characteristic and output characteristics, therefore, referred to as maximum power point
Integral energy utilization ratio of the technology (Maximum Power Point Tracking, MPPT) of tracking to lifting photovoltaic cell
With important influence.So-called MPPT is exactly the electronics that a set of electric current and voltage to photovoltaic cell and energy-storage battery is monitored
The DC/DC converters of device and one group of adjustable gain.By changing gain, MPPT can make the energy obtained from photovoltaic cell
Reach maximum.By the utilization of maximal power tracing device, the maximum power output of solar module can be followed the trail of constantly
Point, and remain that it works in maximum power point, and then solar energy is provided energy to greatest extent for quadrotor.
One kind of the present invention can be to day solar battery quadrotor, and its basic design scheme is as follows：
1. combine default technical parameter and task parameters (including mission payload, airborne period, maximum flying speed and
Ceiling altitude etc.) and rise galassing weighing apparatus, push away resistance balance, energy balance principle, concept is carried out to new quadrotor
Design, and design is proved and simulating, verifying；
2. the airborne platform of quadrotor is carried out, including body, software systems and electronic unit this three parts；
3. at the same time, design is to day follower, it is desirable to can accurately monitor the change of solar azimuth the moment.This
Part design include configuration design (number of the focal lengths of lens and probe etc.) and circuit design (including photoelectric conversion circuit with incline
Angle detection circuit) two large divisions；
4. examine to day follower working condition；
5. carry out the design of two spindle motors.In order to improve the flying quality of new quadrotor, it is that can reach
On the premise of function of uniting, two spindle motor mechanical structures are optimized, mitigate the weight of motor as far as possible.In addition to the control of motor
Device is designed；
6. at the same time, it is contemplated that the harmony of new quadrotor flight course stress, to four two spindle motors
Carry out rational deployment；
7. examine the working condition of two spindle motors；
8. carry out the research of silicon-based photovoltaic cells output characteristics, it is ensured that the power that solar cell is exported in practice can
Meet the demand power of system energy；
9. at the same time, laying area according to theory, to laying for solar battery sheet, solar cell mould is constituted
Block, and maximal power tracing device is installed；
10. test the performance of solar module；
11. carry out the general assembly work of whole system.Including quadrotor fuselage, to day follower, two spindle motors
And solar module this four big main part；
12. at the same time, carry out circuit connection and the combination of software between modules；
13. it is last, verification experimental verification is carried out to whole new quadrotor.
(3) advantage and effect：One kind of the present invention can utilize tracking transducer to day solar battery quadrotor
With the real-time regulation of regulation motor, the azimuth at each moment of the sun can be accurately measured the moment.Moreover, when sunshine deviates electricity
During the plate normal of pond, sensor sends deviation signal, solar panel is aligned the sun again by the adjustment of two spindle motors, so that
When solar module can be long, solar energy is exported to greatest extent.Meanwhile, the use of two spindle motors can realize the sun
Energy battery module disposably turns to best orientation, so as to save the energy of quadrotor system., can by the present invention
To solve this short critical defect of conventional quadrotor airborne period.
4th, illustrate：
Fig. 1 for the present invention is a kind of can be to the structural representation of day solar battery quadrotor；
Fig. 2 is the structural representation of dual-axle motor；
Fig. 3 is the structural representation to day tracking transducer.
Label is described as follows in figure：
1. propeller motor, 2. propeller blades, 3. quadrotor frames,
4. quadrotor controlling organization, 5. dual-axle motors, 6. solar modules,
7. pair day tracking transducer, 8. level orientation motors, 9. vertical orientations motors,
10. power transmission shaft, 11. motor control boxes, 12. maximal power tracing devices,
13. dual-axle motor frame, 14. sensor probes, 15. sensor bases,
16. sensor cover, 17. sensor wires,
5th, embodiment：
It can make further to day solar battery quadrotor with reference to one kind in couple present invention of Fig. 1,2,3
Explanation：
The invention provides it is a kind of it is day being tracked, solar energy can be made full use of to realize leave a blank the new of flight for a long time
Type quadrotor design, as shown in figure 1, the program is in conventional quadrotor (including motor 1, propeller
Blade 2, frame 3 and controller 4) four rotor crosspoints (i.e. center) install to day tracking transducer 7, in real time survey
Measure solar azimuth；The point midway for the four edges that four rotors are constituted is mounted with two spindle motors 5 and rotatable solar-electricity
Pond module 6, the measurement angle using tracking transducer is target point.The use of two spindle motors can realize solar module one
Secondary property turns to best orientation, can not only save system capacity, and can realize the acquisition to solar energy ceiling capacity.
The dual-axle motor is as shown in Fig. 2 be provided with level orientation motor 8 and Vertical Square on electric motor stand 13 and on base 15
Position motor 9, two motors drive respective power transmission shaft 10 respectively, while the driving of motor is controlled by motor control box 11.
This pair day tracking transducer as shown in figure 3, its shell include cylindrical base 15 and semispherical cap 16, lid top
Portion is provided with multiple through holes, and for install sensor probe 14, cylindrical base has sensor wire 17 below, for connecting outside
Other equipment.
One kind of the present invention can be to day solar battery quadrotor, and its basic design scheme is as follows：
1. combine default technical parameter and task parameters (including mission payload, airborne period, maximum flying speed and
Ceiling altitude etc.) and rise galassing weighing apparatus, push away resistance balance, energy balance principle, concept is carried out to new quadrotor
Design, and design is proved and simulating, verifying；
2. the airborne platform of quadrotor is carried out, including body, software systems and electronic unit this three parts；
3. at the same time, design is to day follower, it is desirable to can accurately monitor the change of solar azimuth the moment.This
Part design include configuration design (number of the focal lengths of lens and probe etc.) and circuit design (including photoelectric conversion circuit with incline
Angle detection circuit) two large divisions；
4. examine to day follower working condition；
5. carry out the design of two spindle motors.In order to improve the flying quality of new quadrotor, it is that can reach
On the premise of function of uniting, two spindle motor mechanical structures are optimized, mitigate the weight of motor as far as possible.In addition to the control of motor
Device is designed；
6. at the same time, it is contemplated that the harmony of new quadrotor flight course stress, to four two spindle motors
Carry out rational deployment；
7. examine the working condition of two spindle motors；
8. carry out the research of silicon-based photovoltaic cells output characteristics, it is ensured that the power that solar cell is exported in practice can
Meet the demand power of system energy；
9. at the same time, laying area according to theory, to laying for solar battery sheet, solar cell mould is constituted
Block, and maximal power tracing device is installed；
10. test the performance of solar module；
11. carry out the general assembly work of whole system.Including quadrotor fuselage, to day follower, two spindle motors
And solar module this four big main part；
12. at the same time, carry out circuit connection and the combination of software between modules；
13. it is last, verification experimental verification is carried out to whole new quadrotor.
It should be pointed out that this example only listing property illustrates the application process of the present invention, not for the limitation present invention.It is any ripe
The personnel of such a use technology are known, above-described embodiment row can be changed without departing from the spirit and scope of the present invention.Cause
This, the scope of the present invention should be as is described in the claims.
Claims (4)
1. one kind can be to day solar battery quadrotor, it is characterised in that：
Installed in four rotor crosspoints of conventional quadrotor to day tracking transducer, solar azimuth is measured in real time；Four
Two axles for being provided with two spindle motors between the adjacent rotor in individual rotor to realize solar module are rotated；It is described to day
Tracking transducer is mainly made up of shell, interface electric wire, the circuit popped one's head in and be installed in shell, when sunshine deviates cell panel
It is described that deviation signal is sent to day tracking transducer during normal；Two spindle motor is main by stepper motor, power transmission shaft, control
Box and support are constituted, and control system will adjust solar cell mould in real time according to the signal sent to day tracking transducer
The position of block, using the angle that measures day tracking transducer as target point；
The shell includes lid and base, and the lid is to have multiple through holes, institute in hollow hemisphere, the hollow hemisphere
Stating through hole is used to install sensitive probe；The sensitive probe is made up of lens barrel, convex lens and photo-resistor, the photo resistance
Device is arranged on above the focal position of convex lens, and on the center line of the lens barrel；The interface electric wire and external circuit and
Controller is connected；
In view of the harmony of new quadrotor flight course stress, rational deployment is carried out to four two spindle motors.
2. according to claim 1 can be to day solar battery quadrotor, it is characterised in that：
Quadrotor will be applied to the solar module that can realize the rotation of two axles to day tracking transducer, not only may be used
With using solar energy can be long when the characteristic of energy is provided, and solve short fatal of traditional quadrotor airborne period
Defect, and then the ability of the stable flight in sky of quadrotor can be given full play to, so as to expand four rotor flyings
The application of device.
3. according to claim 1 can be to day solar battery quadrotor, it is characterised in that：
The utilization of two spindle motors can make solar module disposably go to best orientation, so as to save the energy of system
Source；The utilization of maximal power tracing device can make solar module be worked all the time at maximum power point, so as to realize pair
The acquisition of solar energy ceiling capacity.
4. according to claim 1 can be to day solar battery quadrotor, it is characterised in that：Day can be tracked
The basic development flow of type solar energy quadrotor is as follows：
(1) weighed with reference to default technical parameter and task parameters and liter galassing, resistance balance, energy balance principle are pushed away, to new
Quadrotor carries out conceptual design, and design is proved and simulating, verifying；
(2) airborne platform of quadrotor, including body, software systems and electronic unit this three parts are carried out；
(3) at the same time, design is to day follower, it is desirable to can accurately monitor the change of solar azimuth the moment；This portion
Setting up meter separately includes configuration design and circuit design, and the configuration design includes the focal length of lens and the number of probe, the circuit
Design includes photoelectric conversion circuit and inclination angle detection circuit two large divisions；
(4) examine to day follower working condition；
(5) design of two spindle motors is carried out；In order to improve the flying quality of new quadrotor, system work(can reached
On the premise of energy, two spindle motor mechanical structures are optimized, mitigate the weight of motor as far as possible；In addition the controller of motor is entered
Row design；
(6) at the same time, it is contemplated that the harmony of new quadrotor flight course stress, four two spindle motors are carried out
Rational deployment；
(7) research of silicon-based photovoltaic cells output characteristics is carried out, it is ensured that the power that solar cell is exported in practice can expire
The demand power of the pedal system energy；
(8) at the same time, area is laid according to theory, to laying for solar battery sheet, constitutes solar module,
And maximal power tracing device is installed；
(9) performance of solar module is tested；
(10) the general assembly work of whole system is carried out；Including quadrotor fuselage, to day follower, two spindle motors and
This four big main part of solar module；
(11) at the same time, circuit connection and the combination of software between modules are carried out；
(12) it is last, verification experimental verification is carried out to whole new quadrotor.
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| 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 |
| CA3035383A1 (en) * | 2016-09-09 | 2018-03-15 | 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 |
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| 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 | Self-resetting device of four-rotor 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 | A kind of carry out solar energy tracking unmanned plane and fill can process |
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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 |