CN105048545B - Photovoltaic quadrotor - Google Patents
Photovoltaic quadrotor Download PDFInfo
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- CN105048545B CN105048545B CN201510406879.4A CN201510406879A CN105048545B CN 105048545 B CN105048545 B CN 105048545B CN 201510406879 A CN201510406879 A CN 201510406879A CN 105048545 B CN105048545 B CN 105048545B
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Abstract
The present invention provides a kind of photovoltaic quadrotor, belongs to vehicle technology field.Photovoltaic quadrotor includes dynamical system, energy resource system and control system, wherein, the energy resource system is that dynamical system and control system provide the energy, dynamical system driving aircraft is flown, dynamical system includes four rotors and drives four motors of four rotor wing rotations respectively, and energy resource system includes：Sun-generated electric power, charger and rechargeable battery, charger utilizing sun-generated electric power charge to rechargeable battery.The photovoltaic quadrotor of this bright offer can extend cruising time by solar energy.
Description
Technical field
The present invention relates to a kind of photovoltaic quadrotor, belong to vehicle technology field.
Background technology
In recent years, Main Countries are also putting forth effort development of small-scale and miniature nothing while long endurance unmanned aircraft is developed
It is man-machine, constantly develop unmanned plane miniaturization, or even the technology being miniaturized.Countries in the world to the demand of Small and micro-satellite increasingly
Improve, and make every effort to make it play bigger effect in operation.With embeded processor, micro-sensor technologies, control theory
Development, micro electro mechanical system (MEMS) technology is in the extensive use of each side such as military weapon, the product for civilian use, and countries in the world all start competing
The portable Small and micro-satellite of individual soldier of distance type, semi-autonomous formula or autonomous type is mutually developed, and it is progressively personal.It is miniature
Unmanned plane can complete the various complicated tasks such as extreme low-altitude scouting, interference, monitoring.It is loaded with the small of round-the-clock imaging sensor
Type unmanned plane closely can implement reconnaissance and surveillance to target.But UAV Maneuver is relatively weak, it is impossible to complete mobility
The higher task of demand, and cost is higher, and operability is complicated.
To overcome the shortcoming of unmanned plane, multiple companies or group have developed photovoltaic quadrotor.Fig. 1 is existing skill
Art provides four axle rotor craft control principle schematic diagrames.As shown in figure 1, when four rotors are with certain speed constant speed rotation,
The conjunction torsional moment of the aircraft is zero, can be taken off vertically, and can be risen if acceleration, can be declined if deceleration, maintains speed
It can be hovered if degree in certain altitude.When acceleration such as rotor B and D and during constant rotor A and C speed, rotor B and D are to body
Torsional moment increases, and the conjunction torsional moment of the aircraft is not zero, and the aircraft does counterclockwise rotates around body center；And
When acceleration such as rotor A and C during constant rotor B and D speed, it is not zero due to closing torsional moment, the aircraft is in body
The heart is rotated clockwise.When rotor A accelerates, rotor C slows down, the speed phase of the increased speed of rotor A and rotor C reductions
Together, and rotor B and D speed it is constant when, aircraft to the right put down fly；Conversely, when rotor A slows down and rotor C accelerates, and rotor
When B and D speed is constant, aircraft is put down to the left to fly；When rotor B accelerates, rotor D slows down, the speed of increased speed and reduction
When identical and rotor A and C speed is constant, aircraft is flat downwards to fly；Conversely, when rotor B slows down and rotor D accelerates, flight
Device is flat upwards to fly.Therefore the aircraft can be by adjusting the speed of different rotors, you can neatly realize VTOL, rotation stop,
It is flat to fly and rotate in place to wait to move.But traditional photovoltaic quadrotor, energy part generally use lithium polymer battery,
Lithium polymer battery major advantage has：It is cheap；Purchase channel is enriched；Repeatable work；Its list in all electric power energies
Bit density compares highest.But with the raising of sensor technology, the application of photovoltaic quadrotor is also extensive therewith, gradually oozes
Every field is arrived thoroughly, lithium polymer battery can not meet photovoltaic quadrotor broader practice demand.
The content of the invention
To overcome the shortcoming that prior art is present, goal of the invention of the invention is to provide a kind of photovoltaic quadrotor,
It can extend cruising time by solar energy.
To realize the goal of the invention, the present invention provides a kind of photovoltaic quadrotor, and it includes dynamical system, the energy
System and control system, wherein, energy resource system is that dynamical system and control system provide the energy, and dynamical system driving aircraft enters
Row flight, dynamical system includes four rotors and drives four motors of four rotor wing rotations respectively, and energy resource system includes：The sun
Energy power supply, charger and rechargeable battery, charger utilizing sun-generated electric power give rechargeable battery to charge.
Preferably, the sun-generated electric power includes：Multiple electrically in parallel response sun energon power supplys.
Preferably, each sun energon power supply includes the solar energy grandson power supply of a string of electrically coupled in series responses, the first DC/DC turn
Parallel operation and the first controller, wherein, the solar energy grandson power supply of a string of electrically coupled in series responses is exported first by the first DC/DC converters
DC voltage is converted to the second DC voltage, and the first controller is according to the works of the DC/DC converters of the first DC voltage control the first
Make state.
Preferably, the first controller is first comparator.
Preferably, each sun energon power supply also includes first voltage sensor, and it is used for ground DC voltage of sampling, the
The voltage control that one comparator is sampled according to first voltage sensor controls the working condition of the first DC/DC converters.
Preferably, the solar energy grandson power supply of a string of electrically coupled in series responses includes at least one photovoltaic cells, the two the
One DC/DC converters and second controller, wherein, the 3rd DC voltage that the 2nd DC/DC converters export photovoltaic cell turns
It is changed to the 4th DC voltage, second controller is according to the working conditions of the DC/DC converters of the 3rd DC voltage control the 2nd.
Preferably, second controller is the second comparator.
Preferably, each solar energy grandson power supply also includes second voltage sensor, the output of its photovoltaic cell that is used to sampling
Voltage, the voltage control that the second comparator is sampled according to second voltage sensor controls the work shape of the 2nd DC/DC converters
State.
Compared with prior art, the photovoltaic quadrotor that the present invention is provided, when it can extend continuation of the journey by solar energy
Between.
Brief description of the drawings
Fig. 1 is the schematic diagram for the photovoltaic quadrotor that prior art is provided；
Fig. 2 is the schematic diagram of the controller for the photovoltaic quadrotor that the present invention is provided；
Fig. 3 is the circuit diagram of the sun-generated electric power for the photovoltaic quadrotor that the present invention is provided；
Fig. 4 is the circuit diagram of the sun energon power supply for the photovoltaic quadrotor that the present invention is provided；
Fig. 5 is the circuit diagram of the solar energy grandson's power supply for the photovoltaic quadrotor that the present invention is provided.
Embodiment
The invention will now be described in detail with reference to the accompanying drawings.
Fig. 2 is the signal of the controller for the photovoltaic quadrotor that the present invention is provided.As shown in Fig. 2 the rotor of photovoltaic four
Aircraft includes dynamical system, energy resource system and control system, wherein, the energy resource system is that dynamical system and control system are carried
Energy supply source, dynamical system driving aircraft is flown, and dynamical system includes four rotors and drives four rotor wing rotations respectively
The first motor 89, the second motor 90, the 3rd motor 91 and the 4th motor 92, control system include controller（MCU）, communicator
System, the first motor-drive circuit, the second motor-drive circuit, the 3rd motor-drive circuit and the 4th motor-drive circuit, its
In, communication subsystem includes communication module and dual-mode antenna, and communication module is received the instruction on ground by antenna, is also used for controlling
The data of system processed are modulated on radio frequency and are sent to ground by antenna.
First motor-drive circuit includes the first photoisolator PE1 and the first motor driver 85, and controller MCU is through the
One photoisolator PE1 is connected to the signal input part of the first motor driver 85；First motor driver includes the first numeral
Signal processor, the first current sensor and the first speed probe, wherein, the first speed probe is used to detect the first motor
89 actual speed；First current sensor is used for the current value for detecting motor 89；First digital signal processor according to
Current value, the actual speed of the first motor and the MCU that current sensor is detected provide instruction and calculate the first motor of driving
Current value and then control its rotating speed.
Second motor-drive circuit includes the second photoisolator PE2 and the second motor driver 86, and controller MCU is through the
Two photoisolators are connected to the signal input part of the second motor driver 86.Second motor driver includes the second data signal
Processor, the second current sensor and the second speed probe, wherein, the second speed probe is used to detect the second motor 90
Actual speed；Second current sensor is used for the current value for detecting motor 90；Second digital signal processor is according to electric current
The instruction that current value, the actual speed of the second motor and the MCU that sensor is detected are provided calculates the electricity of the second motor of driving
Flow valuve and then control its rotating speed
3rd motor-drive circuit includes the 3rd photoisolator PE3 and the 3rd motor driver 87, and controller MCU is through the
Two photoisolators are connected to the signal input part of the second motor driver 87.3rd motor driver 87 includes the 3rd numeral letter
Number processor, the 3rd current sensor and the 3rd speed probe, wherein, the 3rd speed probe is used to detect the 3rd motor 91
Actual speed；3rd current sensor is used for the current value for detecting the 3rd motor 91；4th digital signal processor is according to electricity
The instruction that current value, the actual speed of the 4th motor and the MCU that flow sensor is detected are provided calculates the 3rd motor of driving
Current value and then control its rotating speed.
4th motor-drive circuit includes the 4th photoisolator PE4 and the 4th motor driver 88, and controller MCU is through the
Two photoisolators are connected to the signal input part of the second motor driver 88.4th motor driver 88 includes the 4th numeral letter
Number processor, the 4th current sensor and the 4th speed probe, wherein, the 4th speed probe is used to detect the 4th motor 92
Actual speed；4th current sensor is used for the current value for detecting the 4th motor 92；4th digital signal processor is according to electricity
The instruction that current value, the actual speed of the 4th motor and the MCU that flow sensor is detected are provided calculates the 4th motor of driving
Current value and then control its rotating speed.
Energy resource system includes：Sun-generated electric power, rechargeable battery Ec, charger 82 and DC/DC converters 83, wherein, too
Photovoltaic energy is converted to electric energy by positive energy power supply, and charger 82 gives rechargeable battery Ec to charge using sun-generated electric power.Charger
Circuit is controlled including MPPT.The cathode output end of charger 82 is connected to diode D7 positive pole, and diode D7, which is connected to, to be filled
Battery Ec positive source, the power input of rechargeable battery Ec positive source connection DC/DC converters 83, DC/DC
The output end of converter 83 provides various direct current energies, such as+5V ,+12V and+24V.
Photovoltaic cells are arranged on the shell of aircraft in the present invention, be mainly disposed to top surface, above, below,
The left side and the right side, during aircraft flight, different with the angle of aircraft flight, photovoltaic cells are illuminated
Intensity is also different, and the photoelectric current that it is produced is also different.A period of time top surface photovoltaic cell and photovoltaic cell above by
The irradiation of sunlight, now, the photoelectric current ratio that top surface and photovoltaic cell above occur are larger, and photovoltaic cell below is in shadow
The moon, its photoelectric current is smaller, and in photronic series parallel structure, the performance of power supply is always by the photovoltaic cell of most pessimum energy
Influence, for prevent most pessimum can photovoltaic cell influence, present invention employs controller, the photovoltaic that is in a disadvantageous position will be exported
Unit disconnects, and is so greatly improved the performance of photo-voltaic power supply.
Fig. 3 is the circuit diagram of the sun-generated electric power for the photovoltaic quadrotor that the present invention is provided.As shown in figure 3, described
Sun-generated electric power includes：The sun energon power supplys of multiple electrically in parallel responses, the diode D2 for rectification and for filtering
The sun energon power supply of preferably five responses in parallel in electric capacity C1, the present invention：First sun energon power supply 1, the second sun energon
Power supply 2, the 3rd sun energon power supply 3, the 4th sun energon power supply 4 and the 5th sun energon power supply 5, five sun energon power supplys
Power positive end after parallel connection is connected to diode D2 positive pole, and diode D2 negative pole is connected to electric capacity C1 first end, electricity
The second end for holding C1 is connected to the common port after five sun energon power sources in parallel.Each sun energon power supply includes multiple electrical
The solar energy grandson's unit being in series, such as the first sun energon power supply 1 include the electrically coupled in series solar energy grandson from aircraft top surface
Unit 11, the solar energy grandson unit 12 before aircraft, the solar energy grandson unit 13 from the aircraft left side, from flight
The solar energy grandson unit 14 on the device right side and the solar energy grandson unit 15 behind aircraft.The structure of other sun energon power supplys
It is identical with the first sun energon power supply.Second sun energon power supply 2 includes the electrically coupled in series solar energy grandson from aircraft top surface
Unit 21, the solar energy grandson unit 22 before aircraft, the solar energy grandson unit 23 from the aircraft left side, from flight
The solar energy grandson unit 24 on the device right side and the solar energy grandson unit 25 behind aircraft.3rd sun energon power supply 2 includes
The electrically coupled in series solar energy grandson unit 31 from aircraft top surface, the solar energy grandson unit 32 before aircraft, from flying
The solar energy grandson unit 33 on the row device left side, the solar energy grandson unit 34 from the aircraft right side and the sun behind aircraft
Can Sun Danyuan 35.4th sun energon power supply 4 includes the electrically coupled in series solar energy grandson unit 41 from aircraft top surface, from winged
Solar energy grandson unit 42 before row device, the solar energy grandson unit 43 from the aircraft left side, the sun from the aircraft right side
Can Sun Danyuan 44 and the solar energy grandson unit 45 behind aircraft.5th sun energon power supply 5 includes electrically coupled in series come from
The solar energy grandson unit 51 of aircraft top surface, the solar energy grandson unit 52 before aircraft, from the aircraft left side too
Positive energy Sun Danyuan 53, the solar energy grandson unit 54 from the aircraft right side and the solar energy grandson unit 55 behind aircraft.
Fig. 4 is the circuit diagram of the sun energon power supply for the photovoltaic quadrotor that the present invention is provided.As shown in figure 4, every
Individual sun energon power supply includes the solar energy grandson power supply 71 of a string of electrically coupled in series responses, the control of the first DC/DC converters 75, first
Device 76, diode D5 and diode D6, wherein, the positive output end of solar energy grandson power supply 71 is connected to the first DC/DC converters
Power input, the common port of solar energy grandson power supply 71 is connected to the power input common port of the first DC/DC converters；First
The solar energy grandson power supply 71 of a string of electrically coupled in series responses is exported the first DC voltage and is converted to the second direct current by DC/DC converters 75
Voltage, the power output end of the first DC/DC converters is connected to diode D5 positive terminal；Diode D5 negative pole end is connected to
Diode D6 positive terminal, while connecting the first binding post, the first binding post is the positive terminal for being provided out the energy；Two poles
Pipe D5 negative pole end connects the second binding post, that is, the common male end for the energy being provided out；First is connected while diode D5
DC/DC output common port, the first controller 76 is according to the working conditions of the DC/DC converters of the first DC voltage control the first.
First controller 76 is preferably first comparator.Each sun energon power supply also includes first voltage sensor 73, and it is used to adopt
The DC voltage of sample first, the first DC/DC of voltage control control that first comparator is sampled according to first voltage sensor is changed
The working condition of device, when the voltage sampled is less than reference voltage Vrf2, makes the first DC/DC converters be stopped.This hair
Bright middle setting D6 purpose is that, in the sun energon power source performance deterioration of the branch road, Shi Gai roads power supply disconnects automatically, sets D5
Purpose be that the sub- power supply for preventing other roads working properly holds energy supply source to it.Reference voltage Vrf2 selection rule of thumb and
It is fixed.
Fig. 5 is the circuit diagram of the solar energy grandson's power supply for the photovoltaic quadrotor that the present invention is provided.As shown in figure 5, every
Individual solar energy grandson power supply includes being turned by the series connection of several photovoltaic cells, the photovoltaic cells 61 of in parallel or series-parallel connection, the 2nd DC/DC
Parallel operation 65, second controller 66, diode D35 and diode D2, wherein, the positive output end of photovoltaic cells 61 is connected to
The power input of two DC/DC converters, the power supply that the common ports of photovoltaic cells 61 is connected to the 2nd DC/DC converters is defeated
Enter common port；Photovoltaic cells 61 are exported the 3rd DC voltage and are converted to the 4th DC voltage by the 2nd DC/DC converters 65,
The power output end of 2nd DC/DC converters is connected to diode D3 positive terminal；Diode D3 negative pole end is connected to two poles
Pipe D2 positive terminal, while connecting the 3rd binding post, that is, is provided out the power positive end of the energy；Diode D3 negative pole end
The 4th binding post is connected, that is, is provided out the common port of the energy, the output that the 2nd DC/DC is connected while diode D3 is public
End, second controller 66 is according to the working conditions of the DC/DC converters of the 3rd DC voltage control the 2nd.Second controller 66 is preferred
For the second comparator.Each sun energon power supply also includes second voltage sensor 63, and it is used for the 3rd DC voltage of sampling, the
The voltage control that two comparators are sampled according to second voltage sensor controls the working condition of the 2nd DC/DC converters.Work as institute
When the voltage of sampling is less than reference voltage Vrf1, the 2nd DC/DC converters are made to be stopped.In the present invention, D2 purpose is set
It is that, in the photovoltaic cell performance deterioration of the branch road, Shi Gai roads power supply disconnects automatically, and the purpose for setting D3 is to prevent other road works
Make normal grandson's power supply and hold energy supply source to it.Depending on reference voltage Vrf1 selection rule of thumb.
Charged present invention employs solar energy to rechargeable battery, during aircraft flight, when there is sunlight, profit
Charged, photovoltaic energy is stored in rechargeable battery, so that the flight time of aircraft adds to rechargeable battery with solar energy
It is long.
The above is only that embodiments of the present invention are described in detail, it is noted that for the art
Those of ordinary skill for, on the premise of the technology of the present invention principle is not departed from, some improvement and modification can also be made, this
A little improve also should be regarded as protection scope of the present invention with modification.
Claims (5)
1. a kind of photovoltaic quadrotor, it includes dynamical system, energy resource system and control system, wherein, the energy system
It is that dynamical system and control system provide the energy to unite, and dynamical system driving aircraft is flown, and dynamical system includes four rotations
The wing and four motors for driving four rotor wing rotations respectively, energy resource system include：Sun-generated electric power, charger and rechargeable battery,
Charger utilizing sun-generated electric power charges to rechargeable battery, it is characterised in that the sun-generated electric power includes：Multiple electrically in parallel sound
The sun energon power supply of answering property；Each sun energon power supply includes the solar energy grandson power supply of a string of electrically coupled in series responses, the first DC/
DC conversions, the first controller, the first diode (D5) and the second diode (D6), wherein, the positive output end of solar energy grandson's power supply
The power input of the first DC/DC converters is connected to, the common port of solar energy grandson's power supply is connected to the first DC/DC converters
Power input common port；The first direct current that first DC/DC converters export the solar energy grandson power supply of a string of electrically coupled in series responses
Voltage conversion is the second DC voltage, and the power output end of the first DC/DC converters is connected to the first diode (D5) positive pole
End；The negative pole end of first diode (D5) is connected to the second diode (D6) negative pole end, while the first binding post is connected, the
One binding post is the positive terminal for being provided out power supply；The positive terminal of second diode (D6) connects the second binding post；Second
The positive terminal of diode connects the first DC/DC output common port simultaneously；First controller is according to the first DC voltage control
The working condition of one DC/DC converters, when the first DC voltage is less than the first reference voltage（Vrf2）When, turn the first DC/DC
Parallel operation is stopped；Each solar energy grandson power supply includes the photovoltaic electric connected by several photovoltaic cells, in parallel or series-parallel connection is constituted
Pool unit（61）, the 2nd DC/DC converters（65）, second controller（66）, the 3rd diode（D3）With the 4th diode（D2）,
Wherein, photovoltaic cells（61）Positive output end be connected to the power inputs of the 2nd DC/DC converters, photovoltaic cells
（61）Common port be connected to the power input common ports of the 2nd DC/DC converters；2nd DC/DC converters（65）By photovoltaic electric
Pool unit（61）3rd DC voltage of output is converted to the 4th DC voltage, and the power output end of the 2nd DC/DC converters connects
It is connected to the 3rd diode（D3）Positive terminal；3rd diode（D3）Negative pole end be connected to the 4th diode（D2）Negative pole
End, while connecting the 3rd binding post, that is, is provided out the positive output end of power supply；4th diode（D2）Positive terminal connection the
Four binding posts, that is, be provided out the common port of power supply, the 4th diode（D2）Positive terminal simultaneously connect the 2nd DC/DC it is defeated
Go out common port, when the 3rd DC voltage is less than the second reference voltage（Vrf1）When so that the 2nd DC/DC converters are stopped.
2. photovoltaic quadrotor according to claim 1, it is characterised in that the first controller is first comparator.
3. photovoltaic quadrotor according to claim 2, it is characterised in that each sun energon power supply also includes the
One voltage sensor, it is used for sample the first DC voltage, the voltage that first comparator is sampled according to first voltage sensor
The working condition of control the first DC/DC converters of control.
4. photovoltaic quadrotor according to claim 3, it is characterised in that second controller is the second comparator.
5. photovoltaic quadrotor according to claim 4, it is characterised in that solar energy grandson power supply also includes the second electricity
Pressure sensor, the 3rd DC voltage of its photovoltaic cells output that is used to sampling, the second comparator is sensed according to second voltage
The working condition for voltage control the 2nd DC/DC converters of control that device is sampled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510406879.4A CN105048545B (en) | 2015-07-13 | 2015-07-13 | Photovoltaic quadrotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510406879.4A CN105048545B (en) | 2015-07-13 | 2015-07-13 | Photovoltaic quadrotor |
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| Publication Number | Publication Date |
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| CN105048545A CN105048545A (en) | 2015-11-11 |
| CN105048545B true CN105048545B (en) | 2017-07-11 |
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| CN201510406879.4A Expired - Fee Related CN105048545B (en) | 2015-07-13 | 2015-07-13 | Photovoltaic quadrotor |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106532897A (en) * | 2016-12-09 | 2017-03-22 | 中国计量大学 | Power supply management system for solar energy unmanned aerial vehicle |
| CN107140197B (en) * | 2017-07-02 | 2023-06-06 | 天津飞眼无人机科技有限公司 | Rotor magnetomotive unmanned aerial vehicle |
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| AU2011203326A1 (en) * | 2010-07-19 | 2012-02-09 | John Clarke | The rotary global skyship |
| CN102545155A (en) * | 2012-03-02 | 2012-07-04 | 南开大学 | Active reverse connection prevention and protection circuit of solar cell |
| CN203946272U (en) * | 2014-05-13 | 2014-11-19 | 中国矿业大学徐海学院 | A kind of agriculture aircraft with multiaxis screw propeller |
| CN104267737A (en) * | 2014-09-22 | 2015-01-07 | 北京航空航天大学 | Solar four-rotor aircraft capable of tracking sun |
| CN204297075U (en) * | 2014-12-01 | 2015-04-29 | 宁波科海翔电子科技有限公司 | A kind of novel rotor type unmanned plane |
| CN204794211U (en) * | 2015-07-13 | 2015-11-18 | 国鹰航空科技有限公司 | Four rotor crafts of photovoltaic |
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2015
- 2015-07-13 CN CN201510406879.4A patent/CN105048545B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2011203326A1 (en) * | 2010-07-19 | 2012-02-09 | John Clarke | The rotary global skyship |
| CN102545155A (en) * | 2012-03-02 | 2012-07-04 | 南开大学 | Active reverse connection prevention and protection circuit of solar cell |
| CN203946272U (en) * | 2014-05-13 | 2014-11-19 | 中国矿业大学徐海学院 | A kind of agriculture aircraft with multiaxis screw propeller |
| CN104267737A (en) * | 2014-09-22 | 2015-01-07 | 北京航空航天大学 | Solar four-rotor aircraft capable of tracking sun |
| CN204297075U (en) * | 2014-12-01 | 2015-04-29 | 宁波科海翔电子科技有限公司 | A kind of novel rotor type unmanned plane |
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