CN107878762B - Long-endurance unmanned aerial vehicle oil-electricity hybrid power system and control method - Google Patents
Long-endurance unmanned aerial vehicle oil-electricity hybrid power system and control method Download PDFInfo
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- CN107878762B CN107878762B CN201711218549.8A CN201711218549A CN107878762B CN 107878762 B CN107878762 B CN 107878762B CN 201711218549 A CN201711218549 A CN 201711218549A CN 107878762 B CN107878762 B CN 107878762B
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- 238000000034 method Methods 0.000 title claims description 39
- 238000010248 power generation Methods 0.000 claims abstract description 100
- 238000004146 energy storage Methods 0.000 claims abstract description 85
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 77
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 77
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 55
- 230000008569 process Effects 0.000 claims description 24
- 239000010705 motor oil Substances 0.000 claims 1
- 239000000446 fuel Substances 0.000 description 20
- 230000005611 electricity Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 11
- 210000004027 cell Anatomy 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 210000000352 storage cell Anatomy 0.000 description 1
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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
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
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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
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/026—Aircraft characterised by the type or position of power plants comprising different types of power plants, e.g. combination of a piston engine and a gas-turbine
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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
- B64U50/11—Propulsion using internal combustion piston engines
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The system comprises a sensor group, a flight control system, an energy storage lithium battery assembly, a power generation control system, a restarting system, a power generation system and a thrust propeller motor; the flight control system controls the energy storage lithium battery assembly and the power generation control system to provide electric energy for the aircraft according to the information provided by the sensor group, and the power generation control system controls the power generation system to provide electric energy for the thrust propeller motor and the energy storage lithium battery assembly; the flight control system further comprises a take-off subsystem, a normal flight subsystem, a charging subsystem and a high-altitude flight subsystem, and the endurance of the long-endurance flight subsystem is increased through the take-off subsystem, the normal flight subsystem, the charging subsystem and the high-altitude flight subsystem.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle power control, in particular to a long-endurance unmanned aerial vehicle oil-electricity hybrid power system and a control method.
Background
At present, the power systems adopted by unmanned aerial vehicles are divided into three main categories: jet power, fuel piston engines, and thrust propeller motors. Jet power is divided into: a fuel jet engine and a fuel turboshaft output engine. Because of the complicated and expensive reasons of weight and supporting system, mainly used large-scale unmanned aerial vehicle field, have had small-size turbojet engine and turboshaft engine put into the market, to small-and medium-sized unmanned aerial vehicle but because its great fuel consumption, the application effect is not good and not widely adopted.
Fuel piston engines are also divided into two main categories: one is a piston-rod engine and a triangle piston wankel engine. The two kinds of engines are widely applied to small and medium-sized unmanned aerial vehicles, but the efficiency of the engines is greatly reduced when the engines are used at a large height, the practical use height is not more than 4000 meters even if an air booster is adopted, the fuel consumption rate is sharply increased along with the increase of the height, and the engines cannot work normally.
The propeller motor is an unmanned power system which is rapidly developed in recent years, and the full-electric power system is applied to vehicles and ships, especially submarines in recent years. However, when the pure energy storage battery supplies power, the pure electric power system can work for a short time continuously due to the limitation of the storage capacity of the energy storage battery. Therefore, most of pure electric power systems adopt oil-electricity hybrid power systems, namely, fuel engines are adopted to generate electricity and are used as power sources of thrust propeller motors to drive vehicles, ships and submarines, but the efficiency of the working mode is lower than that of the conventional fuel engine power systems.
Because the quick power response of the electric power has the advantages of large power regulation range, small influence of height, simple control, accurate power control and the like, which are not replaced by a pure fuel engine, how to effectively improve the working efficiency of an oil-electricity hybrid power system is a big problem of the current electric drive power system.
The prime power of the conventional oil-electricity hybrid power system is a fuel engine, which drives an alternating current generator to generate electricity, and the alternating current is changed into direct current through a rectifier. The overall efficiency is the overall result of the engine efficiency, the power generation efficiency and the rectification efficiency, and obviously is lower than the working efficiency of a pure fuel engine, and is a power system which is uneconomical conventionally.
But they are not a single device for vehicles, ships, and airplanes where the application environment is complex. For example, in the automobile, there are conditions such as starting, braking, and decelerating, and if the conditions such as decelerating, braking, and downhill slope can be used to generate electricity, the oil-electric hybrid automobile is an energy-saving vehicle, and the inefficient oil-electric hybrid system becomes an efficient system.
The unmanned aerial vehicle's operating mode changes more special, adopts oil-electricity to mix more advantageously. The power required by the aircraft at take-off is about 3-4 times of the power required for keeping medium and low speed flat flight, and the method is particularly important for long-endurance unmanned aerial vehicles with long-endurance as a main target. For normal take-off and landing, the aircraft is therefore equipped with a higher-power engine for take-off, while in the air it is operated with a higher-power engine in a lower-power state, with the obvious two major disadvantages: firstly, the weight of the engine with higher power is higher, and the weight of the system for correspondingly maintaining the engine to work is higher, so that the engine becomes a redundant weight in the flight of the unmanned aerial vehicle. The other is that the high-power fuel engine is low in thermal efficiency and high in fuel consumption when operated under low power, and is fatal to long-endurance aircrafts.
Disclosure of Invention
The invention aims to provide an oil-electricity hybrid power system of a long-endurance unmanned aerial vehicle, which has the characteristics of light weight and strong endurance.
The above object of the present invention is achieved by the following technical solutions:
the long-endurance unmanned aerial vehicle engine oil-electricity hybrid power system comprises a sensor group, a flight control system, an energy storage lithium battery assembly, a power generation control system, a restarting system, a power generation system and a thrust propeller motor; the flight control system controls the energy storage lithium battery assembly and the power generation control system to provide electric energy for the aircraft according to information provided by the sensor group, and the power generation control system controls the power generation system to provide electric energy for the thrust propeller motor and the energy storage lithium battery assembly; the flight control system also comprises a take-off subsystem, a normal flight subsystem, a charging subsystem and a high-altitude flight subsystem,
when the take-off subsystem detects that the unmanned aerial vehicle is in a take-off state, the power generation system and the energy storage lithium battery assembly are controlled to work simultaneously through the flight control system so as to provide electric energy in the take-off process; the energy storage lithium battery component provides at least one time of electric energy provided by the power generation system in the aircraft take-off process; the electric energy provided by the power generation system comprises limit overload electric energy of the power generation system in the take-off process of the aircraft;
when the normal flight system detects that the unmanned aerial vehicle is in normal flight, the flight control system simultaneously controls the power generation system to provide electric energy required by the thrust propeller and charges the energy storage lithium battery component;
when the aircraft is detected to descend from a large altitude to a common altitude, the restarting system of the power generation system is controlled by the flight control system, and the power generation system supplies power for the thrust propeller motor and the energy storage lithium battery assembly again;
when the high-altitude flight subsystem detects that the altitude is higher than the rated value, the flight control system controls the power generation system to stop working, and the energy storage lithium battery assembly provides power for high-altitude flight.
By adopting the technical scheme, the power required for taking off is much higher than that required for flying in the air when the aircraft takes off normally, no matter what way is adopted, the required energy and power are far greater than those required for flying normally, about 3-4 times, therefore, when the unmanned aerial vehicle is in a take-off subsystem, the power of the engine is simultaneously provided by the generator set and the energy storage lithium battery component, the principle is that the take-off energy=the electric energy of the storage battery and the power is supplied by the generator, thus the generator with lower power and the energy storage lithium battery component with lower output power can be adopted, the characteristic that the generator can work in an overload way in a short time is utilized, the normal take-off of the unmanned aerial vehicle can be completely met, meanwhile, the volume of the generator with lower power and the energy storage lithium battery component can be reduced adaptively, and the whole weight of the unmanned aerial vehicle is reduced; when the aircraft is in the normal flight subsystem, the power generation system supplies power to the aircraft, and the power required by the unmanned aerial vehicle is smaller than the power required by the unmanned aerial vehicle in the take-off process during normal flight, so that the rated output power of the preferred power generator can be selected as the power generator applicable to the unmanned aerial vehicle in the normal flight process, and the power generator works under the rated power during the normal flight process, so that the consumption of oil can be correspondingly reduced; when the generator is in high-altitude flight, the generator cannot work normally due to lack of high-altitude oxygen, and the storage battery supplies power at the moment.
Further, the power generation system comprises an engine, a generator and a rectifier, wherein the engine is a 4-stroke constant-speed low-oil-consumption gasoline engine, and the generator is provided with a power generation-restarting module; the thrust propeller motor adopts a motor with a power/weight ratio of more than 1 in a certain constant speed range.
By adopting the technical scheme, the engine operates at the highest efficiency, has low oil consumption due to a very narrow steady rotation speed range, is very favorable for long voyage and has small relative weight.
Further, the sensor group comprises
The flying height instrument is connected with the flying control system and used for detecting the current height and outputting a height signal;
the environment sensor is connected with the flight control system and comprises an air temperature and humidity sensor, an air viscosity sensor and a wind speed sensor.
Through adopting above-mentioned technical scheme, can real-time supervision unmanned aerial vehicle's current altitude condition through the flight altimeter to whether be in high altitude or ordinary altitude flight when judging current unmanned aerial vehicle, thereby the flight control system control of being convenient for, thereby environmental sensor is arranged in information such as temperature and humidity, wind speed in the detected air output signal gives flight control system, the flight gesture through flight control system control unmanned aerial vehicle.
Further, the take-off subsystem comprises an overload judging unit, the overload judging unit is used for judging whether the electric energy required by the power generation system for providing the thrust propeller motor in the take-off process of the aircraft reaches an overload limit, if the electric energy does not reach the overload limit, the power generation system continues to provide take-off electric energy, and if the power generation system reaches the overload limit electric energy, the energy storage lithium battery assembly is started to provide take-off electric energy for the take-off.
By adopting the technical scheme, the overload judging unit is used for judging the power required by the thrust propeller motor, and when the overload judging unit is larger than any maximum power of the generator set or the energy storage lithium battery assembly, the single generator set or the energy storage lithium battery assembly is indicated to be insufficient for supplying power to the engine, so that the flight control system controls the generator set and the energy storage lithium battery assembly to supply power simultaneously.
Further, the high altitude flight subsystem includes
A comparison unit which outputs a high altitude signal when the flying height is greater than a rated value;
and the flight control system receives the high-altitude signal and then controls the power generation system to stop working, and the energy storage lithium battery assembly provides electric energy during flight.
Through adopting above-mentioned technical scheme, utilize the altitude appearance of flight to detect the altitude of flight and output altitude signal, when altitude signal is greater than the default, indicate that unmanned aerial vehicle is in big altitude flight subsystem at present, then charge by flight control system control battery, the default can be adjusted according to local environment.
Further, the flight control system includes a charging subsystem including
The electric quantity acquisition unit is used for acquiring the current electric quantity of the energy storage lithium battery component;
the electric quantity judging unit is started when the unmanned aerial vehicle is in a normal flight state, and outputs a charging signal when the electric quantity judging unit judges that the current electric quantity is in a non-full-charge state;
and the execution unit is used for responding to the charging signal to control the power generation system to charge the energy storage lithium battery assembly.
Through adopting above-mentioned technical scheme, charging subsystem charges energy storage lithium cell subassembly, and when unmanned aerial vehicle was in normal flight subsystem, whether full electricity was judged to the electric quantity through electric quantity collection unit to electric quantity collection, electric quantity judgement unit, charges the battery through the balanced charger in the execution unit control power generation system when not full electricity, keeps energy storage lithium cell subassembly energy sufficient to keep long-term flight.
The invention also aims to provide an unmanned engine oil-electricity hybrid power control method which has the characteristics of light weight and strong endurance.
The control method of the system comprises the following steps:
s1, charging an energy storage lithium battery assembly before taking off;
s2, when the unmanned aerial vehicle is detected to be in a take-off state, the power generation system and the energy storage lithium battery assembly are controlled to work simultaneously through the flight control system so as to provide electric energy in the take-off process; the energy storage lithium battery component provides at least one time of electric energy provided by the power generation system in the aircraft take-off process; the electric energy provided by the power generation system comprises limit overload electric energy of the power generation system in the take-off process of the aircraft;
s3, when the unmanned aerial vehicle is in a normal flight state after taking off, the flight control system simultaneously controls the power generation system to provide electric energy required by the thrust propeller and charges the energy storage lithium battery assembly;
s4, when the unmanned aerial vehicle ascends to a large height from a normal flight state to fly, the flight control system controls the power generation system to stop working, and the energy storage lithium battery assembly provides power during flying;
s5, when the unmanned aerial vehicle descends from a large height to a common height, restarting the power generation system is controlled through the flight control system, and the power generation system supplies power for the thrust propeller motor and the energy storage lithium battery assembly again.
Further, the flight control system comprises a charging module for the storage battery, wherein the charging module comprises an electric quantity acquisition module and an electric quantity judgment module for detecting the current electric quantity of the energy storage lithium battery assembly;
in step S3, when the electric quantity judging module judges that the current electric quantity is not full, the battery is charged through the charging subsystem;
in step S5, when the electric quantity judging module judges that the electric quantity of the energy storage lithium battery assembly is insufficient, the unmanned aerial vehicle is controlled to descend from the large height to the common height through the flight control system.
In summary, the invention has the following beneficial effects:
1. when unmanned aerial vehicle takes off, through adopting the technique that takes off energy = part battery electric energy + generator power supply for take off in-process select less power's motor, thereby can be whole less generating set's volume and weight, and can save the energy consumption when flying equally.
2. When flying at a large height, the unmanned aerial vehicle can be automatically switched between the power generation system and the storage battery, and the problem that the power generation system is out of control when flying at a large height of the unmanned aerial vehicle is solved.
3. When the unmanned aerial vehicle is in a normal flight state, the power generation system also has the function of recharging the storage battery pack, so that the energy storage lithium battery pack always keeps the state of full electric quantity and continuous cruising ability in the flight process, and the effect of long-endurance flight is achieved.
Drawings
FIG. 1 is a schematic diagram of the operation of a hybrid electric powertrain;
FIG. 2 is a schematic diagram of a hybrid powertrain control scheme;
FIG. 3 is a schematic diagram of the take-off subsystem operation;
FIG. 4 is a schematic diagram of a normal flight subsystem;
FIG. 5 is a schematic diagram of a charging subsystem;
FIG. 6 is a schematic diagram of a restart subsystem;
FIG. 7 is a schematic diagram of a high altitude flight subsystem;
FIG. 8 is a schematic diagram of a power generation system.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention discloses a long-endurance unmanned aerial vehicle oil-electricity hybrid power system which is realized based on the following design principle:
1. the long-endurance flight system is used for solving the contradiction that the aircraft is excessively loaded and can not take off due to long endurance. For example, a pure fuel flight power system or a pure battery flight power system, the load of which is overweight for a long voyage of 20 hours makes the aircraft unable to take off.
2. The long-endurance flight system also solves the problem that the efficiency of the oil-electricity hybrid system in the prior art is lower than that of a pure oil power system, and the principle is as follows: the efficiency from the engine to the generator is 0.9, the power generation efficiency of the generator is 0.8, the efficiency from the generator to the rectifier is 0.95, and the total efficiency is as follows: 0.9 x 0.8 x 0.95=0.684;
in conclusion, the long-endurance unmanned aerial vehicle engine oil-electricity hybrid power system aims to solve the problems of light load and high efficiency.
One of the methods of the present invention to solve the light load problem is to use a motor with excellent power/weight ratio and small relative weight. Because the unmanned aerial vehicle is not a maneuverable aircraft, the flying overload change is very small in the flying envelope, that is to say, the power change is very small in the range of keeping the flat flying long-range, and the energy consumption is relatively stable, the electric unmanned aerial vehicle can adopt a motor with very good power/weight ratio in a certain constant speed range. When the hybrid power of oil-electricity is used, the engine for power generation may use a special fuel engine. The engine operates under the condition of highest efficiency, has a very narrow constant rotating speed range and lowest oil consumption, and is very beneficial to long endurance.
The second method for solving the light load problem is to use the engine with the lowest oil consumption. When the hybrid power of oil-electricity is used, the engine for power generation may use a special fuel engine. The engine operates under the condition of highest efficiency, has a very narrow constant rotating speed range and lowest oil consumption, and is very beneficial to long endurance.
The third method for solving the light load problem is to fully utilize the short-time overload capacity of the direct current motor when the aircraft takes off, so that the weight of the take-off energy storage lithium battery assembly is reduced. At the takeoff of the unmanned aerial vehicle, the power of the motor driving the propeller to propel is obviously required to be larger than that of the unmanned aerial vehicle at the time of flat flight. The power characteristic curve of the direct current motor shows that the motor power is the product of voltage and current, and when the input voltage is increased, the electrode power is increased, and the rotating speed is increased. The increase in pulling force produced by the increase in rotational speed of the propeller is proportional to the square of the rotational speed. The high-efficiency designed direct current motor has the capacity of short-time power lifting overload of about 100 percent, and the short-time allowable time of the overload high-power direct current motor is about 2-4 minutes until the motor is overheated and stopped. The take-off time of the unmanned aerial vehicle is only 10-20 seconds, and the whole overload operation process is less than 30 seconds. Therefore, the unmanned aerial vehicle can select small and light motor power suitable for flat flight, and simultaneously, the short-time high power during take-off is also satisfied, which is a very obvious characteristic.
The fourth method for solving the light load problem is to solve the problem that the power required by the motor in take-off is larger than the output power of the generator. The energy storage battery adopted by the oil-electricity hybrid power system for the unmanned aerial vehicle is also an essential link in flight. From fig. 1 and fig. 2, it can be seen that the discharge characteristic of the energy storage lithium battery is just the characteristic of high takeoff power of the unmanned aerial vehicle which meets the needs of us. The electric energy consumed during take-off is the electric energy which is fully charged by the energy storage lithium battery before take-off, and the electric energy is summed with the electric energy generated by the fuel generator. It is apparent that a lower power motor can be used which reduces the overall weight of the aircraft and also saves fuel consumption. The electric energy of the storage battery consumed by taking off can be charged again in the process of executing tasks by the unmanned aerial vehicle.
Take-off energy = part of battery power + generator power
One of the methods of the present invention to solve the problem of high efficiency is a restart function of the power generation system. The power generation system is turned off under certain conditions and restarted under certain conditions, so that the power consumption is saved, for example: when the flying height is larger than 4500 m, the fuel engine power generation system can not work normally and stops, and the energy storage battery source is the energy source for driving the propulsion propeller when the flying height of the unmanned aerial vehicle is larger than 4500 m. The electric energy consumed in flying from 4500 m to 6000 m in height should be supplied by the energy storage lithium battery entirely.
The second method for solving the high efficiency problem is to recharge the energy storage lithium battery component when the aircraft is in a normal flight state. The recharging function of the energy storage lithium battery assembly is divided into two stages, wherein the first stage is a stage from take-off to flat flight, the electric energy of the onboard storage battery before take-off is finished on the ground, a large amount of electric energy is consumed in the take-off process, and when the energy storage lithium battery assembly enters a flat flight state, the flight control system controls the power generation system to recharge the storage battery assembly again, so that the energy loss consumed by the energy storage lithium battery assembly in the take-off process is supplemented; the second stage is that the aircraft flies from a large altitude to a normal flight state, when the aircraft descends to more than 4500 m, the on-board power generation control system automatically starts the power generation system again according to a set program, the energy storage battery is recharged, and the propulsion propeller is driven to keep the unmanned aircraft to fly. The power generation capacity of the power generation system is the sum of the electric energy required for maintaining the aircraft to fly normally and recharging the energy storage battery. While the energy of the battery before take-off is already sufficient on the ground. And the electric quantity of the onboard storage battery after ground charging. The electric energy keeps the electric energy that 4 unmanned aerial vehicle take off and land. The total amount of energy storage cells is determined by the total power from 4500 meters to above 6000 meters and the task completed. In this system, the power generation system is fully and reasonably designed, and the total amount of the optimized motor and the energy storage battery is the weight factor of the mutual association.
Based on the principles of the above-described invention,
the long-endurance unmanned aerial vehicle engine oil-electricity hybrid power system is shown by referring to FIG. 1, and comprises a flight altimeter, an environment sensor, a flight control system, a power generation control system, a restarting system, a power generation system, a rectifier, a storage battery pack, an energy storage lithium battery pack and a thrust propeller motor, wherein the flight altimeter and the environment sensor are used for sensing the current position and environment information of the sensor, the environment sensor also comprises an air temperature and humidity sensor, an air viscosity sensor, a wind speed sensor and the like, the acquired signals are transmitted to the flight control system, and the flight control system controls the unmanned aerial vehicle to work under various flight systems, including a take-off subsystem, a normal flight subsystem, a charging subsystem, a large-altitude flight subsystem and a flight control system for controlling the unmanned aerial vehicle to switch among the subsystems; the power generation control system is controlled by the output instruction of the flight control system, specifically, the power generation control system controls whether the restarting system restarts the power generation system, and referring to fig. 8, the power generation system comprises an engine, a generator and a rectifier, wherein the engine is a low-oil-consumption fuel engine with a 4-stroke constant rotating speed; the generator adopts the generator that has the electricity generation and restarts the module to be controlled by restarting the system control, the rectifier passes through balanced charger and connects storage battery, and the person skilled in the art can know that this storage battery belongs to energy storage lithium cell pack's part, can control energy storage lithium cell pack output electric power through flight control system, by energy storage lithium cell pack control thrust screw and unmanned aerial vehicle system power consumption (including sensor power consumption, pilot lamp power consumption etc.), because thrust screw motor passes through energy storage lithium cell pack power supply so this thrust screw motor selects direct current motor.
Referring to fig. 2, fig. 2 is a schematic diagram of an overall control manner of the system, a flight altimeter outputs a current altitude signal to a flight control system, the flight control system switches the flight state of an aircraft, a take-off subsystem comprises an overload judging unit, the overload judging unit detects that a thrust propeller motor needs electric energy, when the required power of the thrust propeller motor is larger than the maximum output power of a charging subsystem or an energy storage lithium battery assembly, the thrust propeller motor is judged to be overloaded, otherwise, the system is not overloaded, when the system is not overloaded, an unmanned aircraft is in normal flight, and a power generation control system controls a power generation system to supply power to the thrust propeller motor, and at the moment, the system is in a normal flight subsystem; when the unmanned aerial vehicle is overloaded and flies, the power generation control system controls the power generation system and the energy storage lithium battery assembly to supply power to the thrust propeller motor at the same time so as to meet the requirement that the take-off energy of the unmanned aerial vehicle is equal to the power supply of part of the storage battery power and the generator. When the energy storage lithium battery pack is in a normal flight state, the flight control system is switched into a normal flight subsystem, the flight control system judges whether the electric quantity of the energy storage lithium battery pack is full of electricity, and when the electric quantity is not full of electricity, the balance charger is controlled by the power generation system to charge the energy storage lithium battery pack; when the flight control system is switched to the high-altitude flight subsystem, the flight control system controls the power generation system to stop working, and at the moment, the power generation control system controls the power generation system to supply power to the thrust propeller motor; when the unmanned aerial vehicle descends to the common height from the large height, the flight control system controls the restarting system to restart the power generation system, and the high-height flight subsystem is switched to the normal flight subsystem.
For a clearer illustration of the principle described above, each flight state is therefore split into fig. 3 to 7.
Referring to fig. 3, a flight state diagram of a takeoff subsystem is shown, and the principle is that the flight state of the current unmanned aerial vehicle is detected in real time by an altimeter, the flight state is switched to the takeoff subsystem by a flight control system, at the moment, whether the thrust propeller motor is overloaded needs to be judged, and when the thrust propeller motor is overloaded, the power is supplied to the thrust propeller motor by an energy storage lithium battery assembly and a power generation system at the same time. At take-off, the power of the motor driving the propeller propulsion is obviously required to be greater than that of a flat flight. According to the power characteristic curve of the propeller motor, the power of the motor is the product of voltage and current, and when the input voltage is increased, the power of the electrode is increased, and the rotating speed is increased. The increase in pulling force produced by the increase in rotational speed of the propeller is proportional to the square of the rotational speed. The generator has the capacity of short-time power lifting overload of about 100 percent, and the short-time allowed time of overload high-power direct-current motor is about 2-4 minutes until overheat is stopped. The take-off time of the unmanned aerial vehicle is only 10-20 seconds, and the whole overload operation process is less than 30 seconds. Thus, the unmanned aerial vehicle can select a small and light generator suitable for flying. And the energy storage lithium battery component provides at least one time of the electric energy provided by the power generation system during the take-off process of the aircraft. Thus, the requirements of 3-4 times of the flat flight during take-off can be met.
Referring to fig. 4, a flight state diagram of a normal flight subsystem is shown, when the unmanned aerial vehicle takes off and enters a normal state, so that the normal flight subsystem is started, at this time, according to signal feedback of the normal flight subsystem, the flight control system controls the power supply of the thrust screw by the power generation system, and the unmanned aerial vehicle is not a maneuverable aircraft in long voyage, and has small flight overload change in a flight envelope, that is, has small power change in a range of keeping flat flight and long voyage, and relatively stable energy consumption, so that the thrust screw motor adopts a thrust screw with excellent power/weight ratio in a certain constant speed range, thereby being very beneficial to long voyage.
Referring to fig. 5, in a normal flight state, the storage battery pack includes an electricity collection module and an electricity judgment module for the storage battery to judge whether the energy storage lithium battery assembly is full of electricity, and when the energy storage lithium battery assembly is not full of electricity, a balance charger connected with the power generation system charges the energy storage lithium battery assembly to ensure that the energy storage lithium battery assembly is kept in a full-electricity state in a flat flight state.
Referring to fig. 6 and 7, when the flying altimeter detects that the unmanned aerial vehicle exceeds 4500 meters (which can be set according to specific address positions), the high-altitude flying subsystem is started, and the environment is unfavorable for the operation of the power generation system, so that the energy storage lithium battery assembly supplies power, and the restarting system controls the power generation system to stop working, so that energy consumption is reduced. And when the unmanned aerial vehicle descends below 4500 meters, the restarting system restarts the power generation system, and the unmanned aerial vehicle returns to a normal flight state at the moment.
A control method of a long-endurance unmanned aerial vehicle oil-electricity hybrid power system comprises the following steps:
s1, charging an energy storage lithium battery assembly before taking off; after the onboard storage battery is fully charged, the electric energy of at least 4 times of unmanned aerial vehicle take-off and landing can be kept.
S2, when the unmanned aerial vehicle is detected to be in a take-off state, the power generation system and the energy storage lithium battery assembly are controlled to work simultaneously through the flight control system so as to provide electric energy in the take-off process; the energy storage lithium battery component provides at least one time of electric energy provided by the power generation system in the aircraft take-off process; the electric energy provided by the power generation system comprises limit overload electric energy of the power generation system in the take-off process of the aircraft;
s3, when the unmanned aerial vehicle is in a normal flight state after taking off, the flight control system simultaneously controls the power generation system to provide electric energy required by the thrust propeller and charges the energy storage lithium battery assembly;
s4, when the unmanned aerial vehicle ascends to a large height from a normal flight state to fly, the flight control system controls the power generation system to stop working, and the energy storage lithium battery assembly provides power during flying;
s5, when the unmanned aerial vehicle descends from a large height to a common height, restarting the power generation system is controlled through the flight control system, and the power generation system supplies power for the thrust propeller motor and the energy storage lithium battery assembly again.
The flight control system comprises a charging module for the storage battery, wherein the charging module comprises an electric quantity acquisition module and an electric quantity judgment module for detecting the current electric quantity of the energy storage lithium battery component;
in step S3, when the electric quantity judging module judges that the current electric quantity is not full, the battery is charged through the charging subsystem;
in step S5, when the electric quantity judging module judges that the electric quantity of the energy storage lithium battery assembly is insufficient, the unmanned aerial vehicle is controlled to descend from the large height to the common height through the flight control system.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Claims (4)
1. The long-endurance unmanned aerial vehicle engine oil-electricity hybrid power system comprises a sensor group, a flight control system, an energy storage lithium battery assembly, a power generation control system, a restarting system, a power generation system and a thrust propeller motor; the flight control system controls the energy storage lithium battery assembly and the power generation control system to provide electric energy for the aircraft according to information provided by the sensor group, and the power generation control system controls the power generation system to provide electric energy for the thrust propeller motor and the energy storage lithium battery assembly; the flight control system also comprises a take-off subsystem, a normal flight subsystem, a charging subsystem and a high-altitude flight subsystem, and is characterized in that: when the take-off subsystem detects that the unmanned aerial vehicle is in a take-off state, the power generation system and the energy storage lithium battery assembly are controlled to work simultaneously through the flight control system so as to provide electric energy in the take-off process; the energy storage lithium battery component provides at least one time of electric energy provided by the power generation system in the aircraft take-off process; the electric energy provided by the power generation system comprises limit overload electric energy of the power generation system in the take-off process of the aircraft; the normal flight subsystem is used for controlling the power generation system to provide the electric energy required by the thrust propeller and charging the energy storage lithium battery component at the same time when detecting that the unmanned aerial vehicle is in normal flight; when the aircraft is detected to descend from a large altitude to a common altitude, the restarting system of the power generation system is controlled by the flight control system, and the power generation system supplies power for the thrust propeller motor and the energy storage lithium battery assembly again; when the high-altitude flight subsystem detects that the altitude is higher than the rated value, the flight control system controls the power generation system to stop working, and the energy storage lithium battery assembly provides power for high-altitude flight;
the power generation system comprises an engine, a generator and a rectifier, wherein the engine is a 4-stroke constant-speed low-oil-consumption gasoline engine, and the generator is provided with a power generation-restarting module; the thrust propeller motor adopts a motor with the power/weight ratio of more than 1 in a certain constant speed range;
the flight control system comprises a charging subsystem, wherein the charging subsystem comprises an electric quantity acquisition unit and is used for acquiring the current electric quantity of the energy storage lithium battery assembly; the electric quantity judging unit is started when the unmanned aerial vehicle is in a normal flight state, and outputs a charging signal when the electric quantity judging unit judges that the current electric quantity is in a non-full-charge state; and the execution unit is used for responding to the charging signal to control the power generation system to charge the energy storage lithium battery assembly.
2. A long-endurance unmanned electric motor hybrid system as set forth in claim 1, wherein: the sensor group comprises a flying height meter, and is connected with the flying control system for detecting the current height and outputting a height signal; the environment sensor is connected with the flight control system and comprises an air temperature and humidity sensor, an air viscosity sensor and a wind speed sensor.
3. A long-endurance unmanned electric motor hybrid system as set forth in claim 1, wherein: the take-off subsystem comprises an overload judging unit, wherein the overload judging unit is used for judging whether the electric energy required by the power generation system for providing the thrust propeller motor in the take-off process of the aircraft reaches an overload limit or not, if the electric energy does not reach the overload limit, the power generation system continues to provide take-off electric energy, and if the power generation system reaches the overload limit electric energy, the energy storage lithium battery assembly is started to provide take-off electric energy for the take-off.
4. A long-endurance unmanned electric motor oil hybrid system as set forth in claim 3, wherein: the high-altitude flight subsystem comprises a comparison unit, and when the flight altitude is greater than a rated value, the comparison unit outputs an altitude signal; and the flight control system receives the high-altitude signal and then controls the power generation system to stop working, and the energy storage lithium battery assembly provides electric energy during flight.
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