CN106542102B - A kind of unmanned plane power-supply management system and its control method - Google Patents
A kind of unmanned plane power-supply management system and its control method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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Abstract
The invention discloses a kind of unmanned plane power-supply management system and its control methods, unmanned plane power-supply management system includes battery pack, battery local management system, communication module, unmanned plane power control system, battery pack connects battery local management system, battery local management system connects unmanned plane power control system by communication module, a kind of control method of unmanned plane power-supply management system, including the unmanned plane range-to-go planning step calculated based on battery dump energy and battery battery core equalization step, the unmanned plane range-to-go planning step progress synchronous with battery battery core equalization step calculated based on battery dump energy, remaining capacity counting accuracy of the present invention is high, improve the capacity usage ratio and cell discharge efficiency of battery, improve battery life, and extend the mileage of flight.
Description
Technical field
The present invention relates to the power-supply management system of unmanned plane and its control method, in particular to unmanned plane range-to-go is planned
With battery battery core balancing technique.
Background technique
It is existing to disclose a kind of electronic unmanned plane remaining mileage estimation method, include the following steps: step S1: passing through electricity
Pond controls chip, reads the battery testing data that battery is currently included electricity, voltage, electric current；Step S2: pass through battery testing number
According to, obtain electric quantity consumption rule and parameter；Step S3: it by real winged data, obtains including the winged of flying speed and flying distance
Rule and parameter between row state and electric quantity consumption；Step S4: remaining mileage estimated value is calculated.Step S4 includes following
Step；Step S41: current throttle size is obtained；Step S42: by throttle and current relationship, the corresponding electricity of current throttle is obtained
Flow valuve；Step S43: by electric current and electric quantity consumption length velocity relation, the corresponding electric quantity consumption speed of current flow is obtained；Step
S44: residual electric quantity is obtained, divided by electric quantity consumption speed, obtaining remaining capacity can the flight time；Step S45: current fly is obtained
Scanning frequency degree, multiplied by can the flight time, obtain remaining mileage estimated value.Above-mentioned steps S2 is that battery electricity is judged according to parameters such as electric currents
Depletion rate is measured, method therefor is fitting, if being fitted by data, is met linearly between electric quantity consumption speed and electric current if obtaining
Relationship, expression are as follows: Cr=k1I+k0, wherein Cr is electric quantity consumption speed, and I is current value, and k1, k0 are relevant parameter, this side
Method be it is very rough, size of current, voltage swing, temperature change etc. all can make this formula accuracy have a greatly reduced quality, and this
Method has only used the current information in battery parameter, fails the model parameter for sufficiently using battery, and concrete analysis is not arrived
The characteristic of battery, it is not specified that whether battery is multiple battery core compositions, not to the protection of battery and improves service life raising requirement,
The utilization rate of the energy content of battery is low, and step S4 is that remaining mileage is calculated according to remaining capacity, and application method is to be fitted by data,
If obtaining, throttle size and battery current meet linear relationship, but do not consider the limitation of low battery battery discharge multiplying power, if nothing
Man-machine to climb when battery capacity is small, the operation such as big-movement steering just can be very dangerous.
Summary of the invention
It is insufficient the purpose of the present invention is overcoming in existing product, power-supply management system and its control of a kind of unmanned plane are provided
Method.
In order to achieve the above object, the present invention is achieved by the following technical solutions:
A kind of unmanned plane power-supply management system, it is characterised in that, including battery pack, battery local management system, communication mould
Block, unmanned plane power control system, the battery pack connect battery local management system, and the battery local management system passes through
Communication module connects unmanned plane power control system, and the battery pack includes several battery cores, the battery local management system
Including cell electrical model, current-voltage sampling module, battery core voltage balance circuit, remaining capacity estimation block, battery core voltage
Equilibrium degree analysis module, drive module, the current-voltage sampling module, battery core voltage balance circuit all connect several electricity
Core, the cell electrical model, current-voltage sampling module all connect remaining capacity estimation block, the current-voltage sampling mould
Block is also connected with battery core electric voltage equalization degree analysis module, and the battery core electric voltage equalization degree analysis module connects battery core by drive module
Voltage balance circuit, the unmanned plane power control system include range-to-go estimation block, motor adjustment module, motor, fly
Row performance analysis module, the motor connect range-to-go estimation block, the flight performance analysis by motor adjustment module
Module connects range-to-go estimation block, and the flight performance analysis module is by being analyzed to obtain to unmanned fuselage state
The work information of aircraft, the work information of the aircraft include cruising speed and flying height.
Preferably, the cell electrical model is charge and discharge at different temperatures, under different discharge current multiplying power tests
Rule and parameter between electric electromotive force and battery dump energy.
A kind of control method of unmanned plane power-supply management system, it is characterised in that, including calculated based on battery dump energy
Unmanned plane range-to-go planning step and battery battery core equalization step, the unmanned plane calculated based on battery dump energy it is surplus
Remaining voyage planning step is synchronous with battery battery core equalization step to carry out, and the unmanned plane calculated based on battery dump energy is remaining
Voyage planning step includes the following steps:
Step S1: voltage value and the battery discharge electricity of several battery cores in battery are collected by current-voltage sampling module
Flow valuve；
Step S2: remaining capacity estimation block is according to battery model, the voltage value of several battery cores, battery discharge electricity
Flow valuve estimates the remaining capacity information of battery this moment, the battery dump energy with extended Kalman filter algorithm recursion
Information includes cell voltage, battery discharge current, battery discharge electricity, and the cell voltage is U, battery discharge current I, electricity
Tank discharge electricity is E1；
Step S3: the battery dump energy breath that remaining capacity estimation block is calculated is passed to unmanned plane by communication module
Range-to-go estimation block in power control system；
Step S4: the work information of aircraft, cruising speed Vt are obtained by flight performance analysis module, flying height is
H, then range-to-go estimation block calculates the flight of unmanned plane residue by battery dump energy information and aircraft work information
Mileage, to obtain the landing base station that unmanned function is flown to；
Step S5: range-to-go estimation block limits maximum cell output current according to battery dump energy situation, gives
Control signal gives motor adjustment module out, then the maximum (top) speed of motor adjustment module control motor；The battery battery core is balanced
Step includes the following steps:
Step T1: by current-voltage sampling module, the voltage value and battery discharge of several battery cores in battery are collected
Current value, the initial voltage of several battery cores are all V；
Step T2: the voltage value of any two battery core in several battery cores is calculated by battery core electric voltage equalization degree analysis module
Difference, acquire the maximum value of the wherein difference of voltage value, the maximum value of the difference of the voltage value is indicated with Vc, when Vc be greater than threshold value electricity
When pressing V cl, battery core electric voltage equalization analysis module provides control signal to drive module, then template is driven to pass through battery core voltage
Equalizing circuit reduces Vc, and otherwise battery core electric voltage equalization degree analysis module calculates the voltage of any two battery core in several battery cores
The difference of value, acquires Vc；When Vc is less than threshold voltage Vc2, stop controlling signal to drive module, battery core voltage balance circuit stops
It only works, otherwise, battery core electric voltage equalization analysis module provides control signal and reduces Vc to drive module, and the Vc2 is less than
Vcl, the Vcl are 2%V, and the Vc2 is 0.4%V, and the calculation method of the unmanned plane residue flyer miles includes following step
It is rapid:
Step 1: the initial quantity of electricity value of the battery be E, by cruising speed V t and flying height H obtain at this time nobody
Then the cruising power W of machine obtains rule between cell voltage U and battery discharge electricity E1 by battery testing data, uses U=
F (E1) indicates that battery stops electric discharge when remaining capacity estimation block measures battery dump energy less than 20%E, therefore battery is surplus
The cutoff threshold of remaining electricity is 20%E；
Step 2: it is obtained by formula Q=It
Step 3: it is obtained by formula W=UI
Step 4: (2) substitution (1) can be obtained the travel time to be indicated with t, to obtain:
Residual non-uniformity is indicated with t, to obtain
Step 5: in the case where the available cruising speed Vt and residual non-uniformity t at the moment of unmanned plane, remaining flight
Mileage are as follows:
Preferably, the battery core voltage balance circuit discharges the high battery core of voltage value in battery, to voltage value
Low battery core charges, so that the maximum value of the difference of voltage value be reduced.
Beneficial effects of the present invention are as follows: remaining capacity estimation block of the invention passes through cell electrical model and expansion card
Kalman Filtering method derives remaining capacity, therefore remaining capacity counting accuracy is high；The invention patent is adopted by Current Voltage
Egf block acquires the voltage that can detecte each battery core of battery, then calculates several by battery core electric voltage equalization degree analysis module
The difference of the voltage value of any two battery core in battery core, acquires the maximum value of the wherein difference of voltage value, when the maximum of the difference of voltage value
When value is greater than threshold voltage Vc1, battery core electric voltage equalization analysis module provides control signal to drive module, and then drive module is logical
Crossing telecom voltage equalizing circuit reduces the maximum value of the difference of voltage value, improves the capacity usage ratio and battery discharge effect of battery
Rate extends the service life of battery core；When remaining capacity estimation block measures battery dump energy less than 20%E, battery stops
Electric discharge, extends the service life of battery core；The invention patent is counted by rule between cell voltage U and battery discharge electricity E1
The remaining flyer miles of energy are calculated, therefore accuracy is higher；Range-to-go estimation block limits most according to battery dump energy situation
Big cell output current provides control signal and gives motor adjustment module, and the maximum for then clicking adjustment module control motor turns
Speed, so that motor will not work overloadingly, when battery dump energy is low, motor adjustment module controls the maximum (top) speed of motor
It can reduce, unmanned plane cannot carry out certain climbings, rise suddenly and plunge, and the operation such as steering, improves battery life, and prolong suddenly
The mileage of long flight.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the flow chart of battery battery core equalization step.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawings of the specification；
As shown in Figure 1, a kind of unmanned plane power-supply management system, which is characterized in that including battery pack 12, battery local management
System, communication module 6, unmanned plane power control system, battery pack 12 connect battery local management system, battery local management system
System connects unmanned plane power control system by communication module 6, and battery pack 12 includes several battery cores, battery local management system
Including cell electrical model 11, current-voltage sampling module 1, battery core voltage balance circuit 2, remaining capacity estimation block 3, battery core
Electric voltage equalization degree analysis module 4, drive module 5, current-voltage sampling module 1, battery core voltage balance circuit 2 all connect several
Battery core, cell electrical model 11, current-voltage sampling module 1 all connect remaining capacity estimation block 3, the current-voltage sampling
Module 1 is also connected with battery core electric voltage equalization degree analysis module 4, and the battery core electric voltage equalization degree analysis module 4 is connected by drive module 5
Connect battery core voltage balance circuit 2.As shown in Figure 1, unmanned plane power control system includes range-to-go estimation block 7, motor tune
Module 9, motor 10, flight performance analysis module 8 are saved, the motor 10 connects range-to-go estimation by motor adjustment module 9
Module 7, motor adjustment module 9 can convert electrical energy into mechanical energy, give according to the revolving speed of control Signal Regulation motor, motor 10
Unmanned plane power control system provides power, and flight performance analysis module 8 connects 7 cell electrical model of range-to-go estimation block
11 rule between charge and discharge electromotive force and battery dump energy at different temperatures, under different discharge current multiplying power tests
And parameter.Flight performance analysis module 8 connects range-to-go estimation block 7, and flight performance analysis module 8 is by unmanned plane
Body state is analyzed to obtain the work information of aircraft, and the work information of the aircraft includes cruising speed and flying height.
A kind of control method of unmanned plane power-supply management system, the unmanned plane including being calculated based on battery dump energy are remaining
Voyage planning step and battery battery core equalization step, based on battery dump energy calculate unmanned plane range-to-go planning step and
Battery battery core equalization step is synchronous to be carried out, and the unmanned plane range-to-go planning step calculated based on battery dump energy includes
Following steps:
Step S1: the voltage value and battery discharge of several battery cores in battery are collected by current-voltage sampling module 1
Current value；
Step S2: remaining capacity estimation block 3 is put according to cell electrical model 11, the voltage value of several battery cores, battery
Electric current value estimates the remaining capacity information of battery this moment, the remaining battery with extended Kalman filter algorithm recursion
Information about power includes cell voltage, battery discharge current, battery discharge electricity, and the cell voltage is U, and battery discharge current is
I, battery discharge electricity are E1；
Step S3: the battery dump energy breath that remaining capacity estimation block 3 is calculated is passed to nobody by communication module 6
Range-to-go estimation block 7 in motor-driven Force control system；
Step S4: the work information of aircraft, cruising speed Vt, flying height are obtained by flight performance analysis module 8
For H, then range-to-go estimation block 7 calculates unmanned plane residue by battery dump energy information and aircraft work information
Flyer miles, to obtain the landing base station that unmanned function is flown to；
Step S5: range-to-go estimation block 7 limits maximum cell output current according to battery dump energy situation, gives
Control signal is to motor adjustment module 9 out, and then motor adjustment module 9 controls the maximum (top) speed of motor 10；
As shown in Fig. 2, the battery battery core equalization step includes the following steps:
Step T1: by current-voltage sampling module 1, the voltage value and battery discharge of several battery cores in battery are collected
Current value, the initial voltage of several battery cores are all V；
Step T2: the voltage of any two battery core in several battery cores is calculated by battery core electric voltage equalization degree analysis module 4
The difference of value acquires the maximum value of the wherein difference of voltage value, and the maximum value of the difference of the voltage value is indicated with Vc, when Vc is greater than threshold value
When V cl of voltage, battery core electric voltage equalization degree analysis module 4 provides control signal to drive module 5, and then drive module 5 passes through electricity
Core voltage balance circuit 2 reduces Vc, and otherwise battery core electric voltage equalization degree analysis module 4 calculates any two electricity in several battery cores
The difference of the voltage value of core, acquires Vc；When Vc is less than threshold voltage Vc2, stop controlling signal, battery core voltage to drive module 5
Equalizing circuit 2 stops working, and otherwise, battery core electric voltage equalization degree analysis module 4 provides control signal and drops Vc to drive module 5
Low, the Vc2 is less than Vcl, and the Vcl is 2%V, and the Vc2 is 0.4%V.
The calculation method of the unmanned plane residue flyer miles includes the following steps:
Step 1: the initial quantity of electricity value of the battery be E, by cruising speed V t and flying height H obtain at this time nobody
Then the cruising power W of machine obtains rule between cell voltage U and battery discharge electricity E1 by battery testing data, uses U=
F (E1) indicates that battery stops electric discharge when remaining capacity estimation block 3 measures battery dump energy less than 20%E, therefore battery is surplus
The cutoff threshold of remaining electricity is 20%E；
Step 2: it is obtained by formula Q=It
Step 3: it is obtained by formula W=UI
Step 4: (2) substitution (1) can be obtained the travel time to be indicated with t, to obtain:
Residual non-uniformity is indicated with t, to obtain
Step 5: in the case where the available cruising speed Vt and residual non-uniformity t at the moment of unmanned plane, remaining flight
Mileage are as follows:
The battery core voltage balance circuit 2 discharges the high battery core of voltage value in battery, the battery core low to voltage value
It charges, so that the maximum value of the difference of voltage value be reduced.
Remaining capacity estimation block of the invention by cell electrical model drink Extended Kalman filter method derive it is surplus
Remaining electricity, therefore remaining capacity counting accuracy is high；The invention patent can detecte electricity by the acquisition of current-voltage sampling module
Then the voltage of each battery core in pond calculates any two battery core in several battery cores by battery core elegance equilibrium degree analysis module
The difference of voltage value acquires the maximum value of the wherein difference of voltage value, when the maximum value of the difference of voltage value is greater than threshold voltage Vc1,
Battery core electric voltage equalization degree analysis module provides control signal to drive module, and then drive module passes through the difference of battery core voltage value
Maximum value reduces, and when the maximum value of the difference of voltage value is less than threshold voltage Vc2, stops to the control signal of drive module, electricity
Core voltage balance circuit stops working, and battery core voltage balance circuit discharges the high battery core of voltage value in battery, to voltage
It is worth low battery core to charge, so that the maximum value of the difference of voltage value be reduced, the capacity usage ratio for improving battery drinks battery
Discharging efficiency extends the service life of battery core；The MOSFET and nothing that battery core voltage balance circuit uses conducting resistance small
Source element inductance, therefore shift the energy very little lost in energy process on the line.When remaining capacity estimation block measures battery
Battery stops electric discharge when remaining capacity is less than 20%E, extends the service life of battery core；The invention patent passes through cell voltage U
Rule calculates remaining flyer miles between the battery discharge electricity E1, therefore accuracy is higher；Range-to-go estimation block
Maximum cell output current is limited according to battery dump energy situation, control signal is provided and gives motor adjustment module, it is then electric
Machine adjustment module controls the maximum (top) speed of motor, so that motor will not work overloadingly, when battery dump energy is low, motor tune
The maximum (top) speed of section module control motor can also reduce, and unmanned plane cannot carry out certain climbings, rise suddenly and plunge, turn to suddenly etc.
Operation facilitates to promote battery life in this way, and extends the mileage of flight.
It should be noted that listed above is only a kind of specific embodiment of the invention.It is clear that the invention is not restricted to
Upper embodiment, can also be there are many deformation, and example is in short, those skilled in the art can be direct from present disclosure
All deformations for exporting or associating, are considered as protection scope of the present invention.
Claims (2)
1. a kind of control method of unmanned plane power-supply management system, which is characterized in that including what is calculated based on battery dump energy
Unmanned plane range-to-go planning step and battery battery core equalization step, the unmanned plane calculated based on battery dump energy are remaining
Voyage planning step is synchronous with battery battery core equalization step to carry out, the unmanned plane residue boat calculated based on battery dump energy
Journey planning step includes the following steps:
Step S1: voltage value and the battery discharge electricity of several battery cores in battery are collected by current-voltage sampling module (1)
Flow valuve；
Step S2: remaining capacity estimation block (3) is put according to cell electrical model (11), the voltage value of several battery cores, battery
Electric current value estimates the remaining capacity information of battery this moment, the remaining battery with extended Kalman filter algorithm recursion
Information about power includes cell voltage, battery discharge current, battery discharge electricity, and the cell voltage is U, and battery discharge current is
I, battery discharge electricity are E1；
Step S3: the battery dump energy information that remaining capacity estimation block (3) is calculated is passed to nothing by communication module (6)
Range-to-go estimation block (7) in man-machine power control system；
Step S4: the work information of aircraft, cruising speed Vt are obtained by flight performance analysis module (8), flying height is
H, then range-to-go estimation block (7) calculates unmanned plane residue by battery dump energy information and aircraft work information
Flyer miles, to obtain the landing base station that unmanned function is flown to；
Step S5: range-to-go estimation block (7) limits maximum cell output current according to battery dump energy situation, provides
Control signal gives motor adjustment module (9), then the maximum (top) speed of motor adjustment module (9) control motor (10)；The battery
Battery core equalization step includes the following steps:
Step T1: by current-voltage sampling module (1), voltage value and the battery discharge electricity of several battery cores in battery are collected
Flow valuve, the initial voltage of several battery cores are all V；
Step T2: the voltage value of any two battery core in several battery cores is calculated by battery core electric voltage equalization analysis module (4)
Difference acquires the maximum value of the wherein difference of voltage value, and the maximum value of the difference of the voltage value is indicated with Vc, when Vc is greater than threshold voltage
When Vc1, battery core electric voltage equalization analysis module (4) provides control signal and gives drive module (5), and then drive module (5) passes through electricity
Core voltage balance circuit (2) reduces Vc, and otherwise battery core electric voltage equalization analysis module (4) calculates any two in several battery cores
The difference of the voltage value of battery core, acquires Vc；When Vc is less than threshold voltage Vc2, stop controlling signal, battery core to drive module (5)
Voltage balance circuit (2) stops working, and otherwise, battery core electric voltage equalization analysis module (4) provides control signal and gives drive module (5)
Vc is reduced, the Vc2 is less than Vc1, and the Vc1 is 2%V, and the Vc2 is 0.4%V, the unmanned plane residue flyer miles
Calculation method includes the following steps:
Step 1: the initial quantity of electricity value of the battery is E, unmanned plane at this time is obtained by cruising speed Vt and flying height H
Then cruising power W obtains rule between cell voltage U and battery discharge electricity E1 by battery testing data, with U=F (E1)
It indicates, when remaining capacity estimation block (3) measures remaining capacity less than 20%E, battery stops discharging, therefore battery dump energy
Cutoff threshold is 20%E；
Step 2: it is obtained by formula Q=It(1)；
Step 3: it is obtained by formula W=UI(2)；
Step 4: (2) substitution (1) can be obtained:
,
Residual non-uniformity is indicated with t, to obtain;
Step 5: in the case where the available cruising speed Vt and residual non-uniformity t at the moment of unmanned plane, remaining flyer miles
Are as follows:。
2. the control method of unmanned plane power-supply management system according to claim 1, which is characterized in that the battery core voltage
Equalizing circuit (2) discharges the high battery core of voltage value in battery, and the battery core low to voltage value charges, thus by voltage
The maximum value of the difference of value reduces.
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| CN107577243B (en) * | 2017-08-30 | 2020-12-08 | 四川智慧鹰航空科技有限公司 | Sound source and infrared hybrid unmanned aerial vehicle ultrahigh precision docking platform |
| CN107329487A (en) * | 2017-08-31 | 2017-11-07 | 西南交通大学 | A kind of unmanned plane and robot link job platform in the air |
| JP7065435B2 (en) * | 2017-09-15 | 2022-05-12 | パナソニックＩｐマネジメント株式会社 | Battery management system, battery system, and battery management method |
| CN108123518A (en) * | 2017-12-26 | 2018-06-05 | 广州亿航智能技术有限公司 | A kind of unmanned plane intelligent battery and method for managing power supply |
| CN108860622A (en) * | 2018-04-28 | 2018-11-23 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle (UAV) control method, apparatus and computer readable storage medium |
| CN108860623A (en) * | 2018-06-04 | 2018-11-23 | 广州市华科尔科技股份有限公司 | A kind of more battery pack unmanned plane method of supplying power to |
| CN109739253B (en) * | 2019-01-28 | 2021-11-26 | 深圳市道通智能航空技术股份有限公司 | Aircraft battery monitoring method and device, battery and aircraft |
| CN110138046B (en) * | 2019-06-05 | 2022-01-14 | 深圳市道通智能航空技术股份有限公司 | Battery management system, battery management method, power module and unmanned aerial vehicle |
| CN110422079B (en) * | 2019-07-15 | 2023-06-09 | 南京航空航天大学 | Electric quantity management and cruising control method for vehicle-mounted aircraft |
| CN112848967B (en) * | 2020-12-25 | 2022-08-19 | 芜湖翼讯飞行智能装备有限公司 | Unmanned aerial vehicle battery management system capable of improving comprehensive utilization rate |
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