CN109050941A - A kind of unmanned plane group system based on new energy framework - Google Patents
A kind of unmanned plane group system based on new energy framework Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/30—Electrical components
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/06—Authentication
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/02—Arrangements for optimising operational condition
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/08—Testing, supervising or monitoring using real traffic
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
-
- 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
Abstract
A kind of unmanned plane group system based on new energy framework, unmanned plane includes motor and control system, the motor includes the first stator winding and the second stator winding being staggered, control system includes the amplitude that sampler described in phase discriminator and phase shifter is used to acquire the alternating current for being input to the first stator winding, and is supplied to controller；The phase discriminator is used for the faradic phase for comparing the alternating current for being input to the first stator winding and exporting from the second stator winding, and is supplied to phase shifter；The signal that the phase shifter is provided according to phase discriminator carries out phase shift to the induced current exported from the second stator winding and then applies parallel with alternating current and the first stator winding.The sustainable execution task of group system provided by the invention.
Description
Technical field
The present invention relates to a kind of unmanned plane group systems based on new energy framework, belong to vehicle technology field.
Background technique
Existing unmanned plane cluster is communicated using traditional wireless networking mode.In traditional wireless networking communications
In, unmanned plane only communicated with fixed network infrastructures such as ground charge centers without with other UAV Communications.Existing nothing
Man-machine group system haves the defects that following several respects:
(1) it is limited to traditional point-to-point communication mode, existing unmanned plane group system can only be in single unmanned plane
It fights within the scope of effective communication distance, flight range is small；(2) all unmanned planes are all only led to charge center or base station
Letter, flexibility are poor；The support of network infrastructure is needed, this requirement advances to scene and establishes the infrastructure such as base station, and it is difficult to fight
Degree is high；If network infrastructure is hit, entire Communication Network for UAVS will fail, and poor reliability can not adapt to current complexity
Changeable site environment；Unmanned plane time that continues is short, can not execute task for a long time.
These defects weaken the ability of the execution task of unmanned plane cluster, limit unmanned plane cluster application, are nobody
Machine cluster major issue urgently to be resolved.
Summary of the invention
To overcome drawbacks described above, goal of the invention of the invention is to provide a kind of unmanned plane cluster system based on new energy framework
System, sustainable long period execute task.
To realize that the goal of the invention, the present invention provide a kind of unmanned plane group system based on new energy framework, wrap
Include multiple unmanned planes, multiple unmanned planes weaved into multiple logical groups by level, in the formation and logical group of logical group nobody
The operation of machine node is participated in without server, and unmanned plane includes at least motor and the control system for controlling motor, institute
Stating motor includes a stator and a rotor, and stator is set to rotor outer periphery, the stator be staggeredly equipped in N polarity and
The polar permanent magnet of S, the stator include at least the first stator winding and the second stator winding being staggered, pass through first
Stator winding inputs alternating current, passes through the second stator winding sensitive electric current, which is characterized in that control system includes phase demodulation
Sampler described in device and phase shifter is used to acquire the amplitude for the alternating current for being input to the first stator winding, and is supplied to control
Device；The phase discriminator is used for the induced electricity for comparing the alternating current for being input to the first stator winding and exporting from the second stator winding
The phase of stream, and it is supplied to phase shifter；Signal that the phase shifter is provided according to phase discriminator from the second stator winding to exporting
Induced current carries out phase shift and then applies parallel and the first stator winding with first with alternating current.
Preferably, the control system further includes controller, sampler, phase driver and inverter；The inverter exists
The direct current for providing power supply under the effect of phase driver is converted to the alternating current for being applied to the first stator winding；The sampler
For acquiring the amplitude for being input to the alternating current of the first stator winding, and it is supplied to controller；The controller is according to adopting
Signal provided by sample device, which is generated, provides pulse width signal to phase driver.Preferably, control system further includes analog-to-digital conversion
Circuit and amplifier, the amplifier are used to amplify the voltage signal provided from sampler and are supplied to analog to digital conversion circuit, institute
It states modulus circuit and generates digital signal for the signal that amplifier provides to be carried out analog-to-digital conversion, and be supplied to controller；Control
Device processed provides number letter according to analog-digital converter and generates pwm signal.
Preferably, control system further includes logic controller, and logic controller responds pwm signal and clock signal for PWM
Signal is converted to the parallel signal for controlling phase driver.
Preferably, logic controller can give controller to transmit error signal, respond error signal, and motor controller can be with
The pwm signal of one correction and the clock signal of correction are provided to logic controller.
Preferably, power supply includes at least photovoltaic cell and its control circuit, and the control circuit of photovoltaic cell includes at least most
The output of high-power tracking module and pulse width modulation circuit, maximal power tracing module is connected to pulse width modulation circuit
Input terminal, pulse width modulation circuit includes the first amplifier of operation and second operational amplifier, the first operational amplifier
Output end is connected to its inverting input terminal, and normal phase input end is connected to the output end of maximal power tracing module；Second operation
The reverse side of amplifier is connected to the output end of the first operational amplifier, and in-phase end is connected to triangular wave frequency source, and output end connects
It is connected to the grid of field-effect tube；The source electrode and drain electrode of field-effect tube is connected to power supply and ground.
Preferably, the power supply also includes at least braking circuit comprising transistor, diode and resistance, transistor
Emitter ground connection, collector are connected to the anode of diode and the first end of resistance, and base stage provides control by the winged control device of unmanned plane
Signal processed；The cathode of diode and the second end of resistance are connected to power supply.
Preferably, in logical group include at least group leader's node and multiple group member's nodes, group member's node by whether
Receiving group leader's node send heartbeat data frame to judge whether group leader's node survives, and whether group leader's node receives group member's section by hair
The response of point judges whether group member's node survives.
Preferably, any unmanned plane node can authenticate nobody of cluster to be added in logical groups.With it is existing
Technology is compared, and the unmanned plane group system provided by the invention based on new energy framework has the advantages that) it is sustainable longer
Time execute task, the present invention in, due to unmanned plane motor have the second stator winding coil, be provided with permanent magnet
In stator rotary course, induced alternating current, by the alternating current carry out phase shift, and be applied to the first stator winding coil
Alternating current superposition, therefore saves the energy, thus make without everybody the time that continues it is long, and then extend based on new energy framework
Unmanned plane group system execute task ability.
Detailed description of the invention
Fig. 1 is the unmanned plane group system composition schematic diagram provided by the invention based on new energy framework；
Fig. 2 is the composition block diagram of UAV system device provided by the invention；
Fig. 3 is the circuit diagram of unmanned plane energy source device provided by the invention；
Fig. 4 is the circuit diagram of Unmanned Aerial Vehicle Powerplants provided by the invention；
Fig. 5 is the work flow diagram of group leader's node provided by the invention；
Fig. 6 is the work flow diagram of group member's node provided by the invention；
Fig. 7 is the flow chart provided by the invention for examining unmanned plane node legitimacy to be certified；
Fig. 8 is the flow chart of the course of work of relay node provided by the invention.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " first ", " second " etc. are used for description purposes only, without
It can be interpreted as indication or suggestion relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be electricity
Connection, is also possible to be connected directly, can also can also be the connection inside two elements indirectly connected through an intermediary,
For the ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Fig. 1 is the unmanned plane group system composition schematic diagram provided by the invention based on new energy framework, unmanned plane cluster
In system, UAV system device is all set to be communicated by ad-hoc wireless data connection.In addition, unmanned plane carries
Setting can be used wireless adapter and establishes wireless data connection, and adjacent UAV system device passes through frequency spectrum perception and recognized
Card sets up wireless connection.After certification passes through, which can be believed by connectionless transmitting network configuration
Breath, channel information and network identity, thus establishing ad-hoc network linking between two adjacent wireless devices.The present invention
In, UAV system device, unmanned plane node and terminal have the same meaning.
Network configuration information may include physical network identifier, for example, physical network identifier is with the ad- for identification
Hoc network.Physical network identifier also may include broadcasting network identifier.Broadcasting network identifier may include ip multicast net
Network identifier is used to limit the range of message broadcast.Network configuration information can also include logical network identifier, for example,
Logical network identifier may include point-to-point group identifier, for identification the unmanned plane node logic clusters to be added
Group.Wireless connection can transmit the timestamp that any unmanned plane node enters network.
As shown in Figure 1, the multiple unmanned planes for participating in execution task are weaved into multiple ad-hoc network logical groups by level, such as
First logical group, the second logical group and third logical group, the first group include group leader's node Gr and multiple group members
Node Vi, on group leader's node is second level management node, and on the management node of the second level is third level pipe
Node ..., the function that the node of each level is served as and task difference are managed, each node is caused to play the part of different angles in systems
Color.
In one embodiment, for two-level logic group, second level management node just starts all network configuration letters of keeping
Breath, including group configuration information.Second level management node can establish ad-hoc network company by being wirelessly connected with group leader's node
It connects.The information exchanged between second level management node and other second level management nodes may include physical network identifier, wide
Broadcast network identifier and logical network identifier.Once from the second level, management node receives network configuration information, just in the second level
Ad-hoc network connection is established between management node and each group leader.
Then group leader's node is saved from the network configuration that node there in the second level receives to group member by being wirelessly connected transmitting
Point is established and is connected to the network with the ad-hoc of group member.Group leader's node is directly established by the independent discovery with each group member's node
Ad-hoc network.Or group leader's node can initially set up the connection with first group member's node, then, first group member can be with
Network configuration information is transmitted to second group member's node, similarly, second group member's node can transmit net by another connection
Network configuration information gives third group member's node.Newest network topological information can be passed back to by each group member's node along connection
Group leader's node is given, then group leader's node similarly transmits newest network topological information back to second level management node.Moreover,
Second level management node and group leader's node can similarly push newest network topological information to each group member.Alternatively, each
Group member can pull out newest network topological information from group leader.According to one embodiment, network topological information be can be automatically
It updates and is distributed in each group member of physical network or group according to network configuration.
In one embodiment, network topological information may include a timestamp, corresponds to each node and the net is added
The time of network.Therefore it can establish the chronological order of an addition network.Topology and temporal information can pass to whole network
Or it is limited in each group.
In one embodiment, network configuration information may include broadcasting network identifier.For example, broadcasting network identifier
It can be an ip multicast identifier, be used to limit communication range in a network, can permit one in a logical groups
A node is communicated with other nodes, but is not allowed to be communicated with any node in the second logical group.One
In a embodiment, such as second level management node is configured to patrol from the first logical group, the second logical group and third
It collects in group and receives all communication informations.
When being initially configured unmanned plane group system, it is possible to specify group leader's node of each logical group and group member's section
Point obtains idle channel by group leader's node in such a way that frequency perceives, and channel information is broadcast to the every of affiliated logical groups
One group member's node after each group member's node receives broadcast message, carries out network configuration and changes the channel of oneself, so as to same
The intermediate node of one logical group is communicated.Group leader's node can announce network identifier, which can be physics
Network identifier.Group leader's node starts to start the function of pushed information and runs a communication service in processor.Group leader's node
An order can be pushed, group member's node is made to be struck target according to order execution task such as flight position, speed.Then group member
It after node receives broadcast, obtains physical network identifier and handles network configuration information, according to order execution task.In addition,
The existing state of each group member's node of group leader's node also periodic detection, detection method combination Fig. 5 are illustrated.
Fig. 2 is the composition block diagram of UAV system device provided by the invention, as shown in Fig. 2, an implementation according to the present invention
Example, UAV system device are configured for unmanned plane and form point-to-point group by wireless adapter.UAV system device
It may include processor 405, memory 401, wireless adapter 410, memory 401 includes read-only memory (ROM), deposits at random
Access to memory (RAM).Processor 405 can be loaded into enabled instruction from ROM, then read further instruction from RAM, can be with
It is executed by processor 405 and completes one or more logic operations.Specifically, processor 405 can configure wireless suitable to control
The operation of orchestration, foundation is linked with another UAV system device, and controlling wireless adapter makes it establish ad-hoc network.
RAM can store initial network configuration data.In one embodiment, initial network configuration data can be the configuration number of default
According to alternatively, network configuration data can be the custom configuration data provided by user by user interface adapter.In addition,
Once receiving network topology and time stamp data, processor can be such that these data are stored in RAM, for future reference or
Further dispensing.Those skilled in the art will realize that the component of RAM and processor can be configured to execute various fortune
Row.
UAV system device further includes the servo for flying control device 406 and the order-driven unmanned plane during flying according to winged control device 406
Mechanism 407, wherein fly control device 406 according to the instruction of processor 405 and provide control signal to servo mechanism 407, so that servo
Structure 407 flies according to the instruction that preset path or upper level are sent, also by unmanned plane during flying when data transmission give
Processor 405.UAV system device further includes photograph subsystem comprising camera 412 and camera controller 413, the photograph
Camera 412 is connected to camera controller 413, is used to take photo by plane to target area, and the image information taken photo by plane is transmitted
To camera controller 413, camera controller 413 is connected to processor 405, be used to handle the image information of input and
After send processor 405 to.Wireless adapter generally includes the radio frequency unit of digital baseband unit, when transmitting, the number base
The information that tape cell is used to be transmitted processor 405 carries out source coding and channel coding, then sends radio frequency unit to, institute
Stating radio frequency unit includes transmitter, and the transmitter is used to that the information that digital baseband unit transmission comes to be encrypted and is modulated to
Power amplifier is then carried out in the carrier signal of instructions from the higher level, is emitted to space finally by antenna；Radio frequency unit further includes receiver,
Receiver is used to antenna received signal carrying out demodulation decryption, then sends the data to digital baseband unit, digital base
Tape cell is used to digital baseband signal carrying out channel decoding, source coding, takes out data or refer to that controlling terminal is sent
It enables.
According to a first embodiment of the present invention, UAV system device further includes sensor module 402, and sensor module is exemplary
Ground includes altimeter, is used to obtain the elevation information on unmanned plane and ground.Sensor module illustratively further includes magnetic heading
Instrument, pitot, gyroscope etc., for measuring the course of unmanned plane, speed etc..
UAV system device further includes navigator fix receiver 403, and the pass of navigation positioning satellite is received by antenna A1
In the location information and temporal information of unmanned plane, and transfer data to processor 405.Navigator fix receiver 403 is, for example,
GPS receiver, Beidou positioning time service receiver etc..According to one embodiment, UAV system device further includes range unit 409,
It is used to measure at a distance from unmanned plane and target etc., and the distance measuring equipment 409 is, for example, laser range finder.The control of unmanned plane
System further includes direction-finding device 417, is used to measure the direction of monitored target and unmanned plane.Processor according to range unit and
Data provided by direction-finding device determine the position and speed etc. of monitored target.
An embodiment according to the present invention, the present invention provide UAV system device and are provided from energy source device 404 to all parts
The energy can be turned off by switch and connect control.
An embodiment according to the present invention, UAV system device provided by the invention further include execution unit controller 408,
Execution unit part state is controlled according to instruction, to effectively hit the target of enemy.
Fig. 3 is the circuit diagram of the energy source device of unmanned plane provided by the invention, as shown in figure 3, energy source device includes at least
Photovoltaic cell SE and its control circuit, the control circuit of photovoltaic cell include resistance R4 and R5, they are parallel to light after being connected in series
The both ends of battery SE are lied prostrate, wherein intermediate node is used to take out the sampling voltage of photovoltaic voltage；The ground terminal of photovoltaic cell passes through electric current
Mutual inductor R6 takes out sampling current, and maximal power tracing module MPPT controls photovoltaic electric according to the value of sampled voltage and sample rate current
The output power of pond SE.The output end of maximal power tracing module MPPT is connected to the input terminal of pulse width modulation circuit, arteries and veins
Rushing width modulation circuit includes operational amplifier IC1 and operational amplifier IC2, and the output end of operational amplifier IC1 is connected to it
Inverting input terminal, normal phase input end are connected to the output end of MPPT.The reverse side of operational amplifier IC2 is connected to operation amplifier
The output end of device IC1, in-phase end are connected to triangular wave frequency source, and output end is connected to the grid of field-effect tube T7.
The control circuit of photovoltaic cell further includes field-effect tube T7, diode D7 and coil L2, they form booster circuit,
Wherein the grid of field-effect tube T7 is connected to the output end of operational amplifier IC2, and drain electrode is connected to the anode and electricity of diode D7
Feel the second end of L2, the first end of inductance L2 is connected to the cathode output end of photovoltaic cell SE, and the cathode of diode D7 is connected to
The second end of the first end of power output end and capacitor C2, capacitor C2 is connected to ground.Control circuit is for that can fill photovoltaic cell
In capacitor C2, capacitor C2 is used to provide electric energy to circuit for controlling motor.
In one embodiment of the invention, photovoltaic energy derives from the photovoltaic cell film for being attached at unmanned plane surface, capacitor C2
For fractal capacitor, be attached on unmanned plane shell, under photovoltaic cell film, photovoltaic can be converted for storing photovoltaic cell film and
The electric energy come.
According to an embodiment of the present invention, energy source device further includes braking circuit, including transistor T8, diode D8 and
Electricity group R7, transistor T8 emitter ground connection, collector be connected to diode D8 anode and resistance R7 first end, base stage by
Fly control device and control signal is provided；The cathode of diode D8 and the second end of resistance R7 are connected to power supply VCC1.
The servo mechanism of unmanned plane includes at least power device, is described in detail below with reference to Fig. 4.
Fig. 4 is the circuit diagram of Unmanned Aerial Vehicle Powerplants provided by the invention, as shown in figure 4, power device includes motor
With the control circuit for controlling motor.
Motor includes shell, the stator and rotor that are placed in shell, setting driving winding coil (first on the stator
Stator winding) U1, V1 and W1 and energy regenerating winding coil (the second stator winding) U2, V2 and W2, driving winding coil U1,
V1 and W1 and energy regenerating winding coil U2, V2 and W2 are staggered respectively.
According to an embodiment of the present invention, the stator of motor further includes multiple annular silicon wafers stacked on top of each other, multiple portions
Slot, winding are eliminated in energy regenerating slot for winding, multiple driving windings (motor winding) slot, multiple magnetic flux slot segmentations, multiple counteractings
Multiple energy regenerating windings around corresponding energy regenerating slot for winding and to be wrapped in respective drive more around slot for winding
A driving winding.
Driving winding coil is used as the coil for rotating rotor and receiving come the electric power of electronic control circuit.Part energy
Amount recycling winding, which is used as, generates electric power using by electric current that rotor rotary inductive goes out.In this embodiment, slot for winding and winding
Sum be 6, be in 6 regions.Along circumferential arrangement U1, U2, V1, V2, W1, the W2 as follows of stator.Drive winding
Coil is connected to circuit for controlling motor device, and energy regenerating winding coil is connected to phase discriminator.
Further, since being equipped with the impartial relatively narrow magnetic flux of width between motor slot for winding and energy regenerating slot for winding
Slot segmentation, therefore magnetic flux is divided, thus blocked can the magnetic flux of electric motor winding flow to the path of energy regenerating winding, make
The magnetic flux for obtaining motor winding only flows to the magnetic field of rotor, so that electronic function be made more effectively to drive.In addition, magnetic flux is divided
Slot remains unchanged the excitation width around motor slot for winding, so that motor slot for winding be allow not influence in driving period
Adjacent winding slots are not operated with being influenced by adjacent winding slots.
Width equalization and relatively narrow counteracting are equipped between energy regenerating slot for winding and adjacent energy recycling slot for winding
Slot is eliminated, is offseted with eliminating magnetic flux, to improve generating efficiency.
Rotor includes that multiple silicon wafers stacked on top of each other and multiple flat permanent magnets, these permanent magnets are radially embedded in
In stacked silicon wafer.In this regard, permanent magnet is designed to have strong magnetic force, so that relatively wide magnetic field table can be formed
Face, therefore magnetic flux can be made to be gathered on the magnetic field surface, increase the magnetic flux density on magnetic field surface.The number of poles of rotor is according to stator
Depending on number of poles.
Rotor is described in detail below, three permanent magnets are spaced equally from each other by be opened and be embedded in stacked round silicon wafer
In, and polarity is in N polarity and the pole S interlaced arrangement.It is equipped with non-magnetic core, on the center of stacked round silicon wafer to support permanent magnetism
Body and silicon wafer, and the center for passing through non-magnetic core is equipped with axis.Permanent magnet is formed as even shape, and is formed between permanent magnet
There is idle space.
Mutually being tied with the active energy of stator by energy by rotor is designed to have using the motor of permanent magnet
The rotary force for closing and being formed.In order to realize the super efficiency in motor, enhance being very important by energy for rotor.Cause
This, uses " neodymium (neodymium, iron, boron) " magnet in the present embodiment.These magnets increase magnetic field surface and magnetic flux are enable to gather
On the magnetic field of rotor, to increase the magnetic flux density in magnetic field.
Control circuit for controlling motor includes motor controller MC1, phase driver PD1, driver, the first electricity
Pressing sampler device, second voltage sampler and tertiary voltage sampler, the driver includes multiple switch element T1 to T6, institute
Phase driver PD1 is stated for on-off driving switch element T1 to T6.Metal oxide is used in switch element T1 to T6
Semiconductor field effect transistor (MOSFET) or insulated gate bipolar transistor (IGBT) constant power semiconductor element.In addition,
Each switch element T1 to T6 is connected in parallel recirculation diode.
First voltage sampler can connect the switch element T2 in driver and between ground, the first voltage sampling
Device is realized preferably by resistance R1, for current signal collected to be converted to voltage signal；Second voltage sampler can be with
It is connected to the switch element T4 in driver and between ground, the second voltage sampler is realized preferably by resistance R2, be used for
Current signal collected is converted into voltage signal；Tertiary voltage sampler can connect the switch element T6 in driver
Between ground, stopped tertiary voltage sampler is realized preferably by resistance R3, for current signal collected to be converted to electricity
Press signal.
Control circuit further includes analog-digital converter ADC1 and amplifier CO1, the amplifier CO1 for amplifying from the first electricity
The voltage value for the voltage signal that pressure sampler provides simultaneously is supplied to analog-digital converter, and the analog-digital converter ADC1 will be for that will amplify
The signal that device CO1 is provided carries out digital-to-analogue conversion and then generates digital signal, and is supplied to controller MC1.
Control circuit further includes analog-digital converter ADC2 and amplifier CO2, the amplifier CO2 for amplifying from the second electricity
The voltage value for the voltage signal that pressure sampler provides simultaneously is supplied to analog-digital converter, and the analog-digital converter ADC2 will be for that will amplify
The signal that device CO2 is provided carries out digital-to-analogue conversion and then generates digital signal, and is supplied to controller MC1.
Control circuit further includes analog-digital converter ADC3 and amplifier CO3, the amplifier CO3 for amplifying from third electricity
The voltage value for the voltage signal that pressure sampler provides simultaneously is supplied to analog-digital converter, and the analog-digital converter ADC3 will be for that will amplify
The signal that device CO3 is provided carries out digital-to-analogue conversion and then generates digital signal, and is supplied to controller MC1.
Motor controller generates pwm signal according to the digital signal that analog-digital converter AD1, AD2 and AD3 are provided.Control electricity
Road further includes logic controller LC1, and pwm signal is converted to and is used to control by logic controller LC1 response pwm signal and clock signal
The parallel signal of phase driver PD1 processed.Logic controller LC1 can transmit error signal to motor controller MC1, respond mistake
Signal, motor controller MC1 can provide the pwm signal an of correction and the clock signal of correction to logic controller.
Respond parallel signal, what phase driver PD1 can produce that grid signal turns on or off in driver multiple opens
Close element T1 to T6.Grid signal is responded, driver can produce an ac current signal with drive motor, to make electricity
Motivation adjusts the speed automatically.
Control circuit further includes phase discriminator and phase shifter, and first, second, and third samplers sample is input to
The amplitude of the three-phase alternating current of one stator winding, and it is supplied to controller；The phase discriminator is input to first for comparing
The three-phase alternating current of stator winding and the faradic phase exported from the second stator winding, export a voltage value and phase
The proportional voltage signal of potential difference, and it is supplied to phase shifter；The voltage signal that the phase shifter is provided according to phase discriminator is to from
The induced current of two stator winding output carries out phase shift, then folds respectively with the three-phase ac signal for being input to the first stator winding
Adduction is supplied to the first stator winding, to carry out frequency conversion to the three-phase ac signal for being applied to the first stator winding.The present invention
In, photovoltaic can be converted into electric energy to be supplied in the control circuit (driving circuit) of the motor of unmanned plane, in the motor
Due to being provided with the second stator winding on stator, the signal generated using the second stator winding is to being applied to the first stator winding
Stream signal carry out frequency conversion, can so extend the flight time of unmanned plane, thus extend its execute task ability.
Fig. 5 is the work flow diagram of group leader's node, as shown in figure 5, each group member's node of group leader's node also periodic detection
Existing state includes:
S01: group leader's node periodically sends heartbeat data frame to each group member, and detects the response of each group member's node；
S02: if periodically receiving the response of each group member, determine that group member's node is normal, normal communication can be carried out simultaneously
Execution task, otherwise, preliminary judgement is possible abnormal nodes；
S03: in the presence of may be for abnormal node the case where, group leader's node sends broadcast, makes each group member's node
It carries out terminal discovery or node is led and looked for, and carry out authentication operation；
S04: being had found by terminal, if finding the node indicated for may be abnormal, checks its network identifier, if
Be this logical groups, it made to reconfigure network, the logical group is added, if it is not found, then the node it is dead or
Person is missing, network configuration and channel is changed, to prevent the unmanned plane node from being obtained by enemy, to obtain our information.
The above method is only example, and the management node of any upper level can judge next stage section by the above method
Point existing state.I.e. by sending heartbeat data frame to next stage node, and detect the response pattern detection of each group member's node
The existing state of next stage node.
In execution task, group leader's node may also be hit by enemy, or because other reasons are out of action, in this way, group
Member can detect the existing state of group leader's node, and detection method combination Fig. 6 is illustrated.
Fig. 6 is the work flow diagram of group member's node, and the existing state of group member's node also periodic detection group leader node includes:
S01: group member's node periodically receives the heartbeat data frame of group leader's node transmission；
S02: if periodically receiving the heartbeat data frame of group leader, determining that group leader's node is normal, can carry out normal communication,
Otherwise, preliminary judgement is that group node may be abnormal；
S03: in the case of group leader's node may be abnormal, each group member's node carries out terminal discovery, and is recognized
Card operation；
S04: if certification passes through, the election of group leader's node is carried out, is matched by new group leader's node broadcasts network identifier, network
Confidence breath and channel information continue terminal discovery operation back to S03 if certification does not pass through.
The above method is only example, and any next stage is managed node and can judge upper level by the above method
Management node existing state, i.e., by whether receiving the mode of the heartbeat data frame of even higher level of node transmission periodically come on judging
The existing state of first nodes.
In execution task, there is also unmanned planes by enemy's serious blow, in this way, making to participate in nobody of execution task
The fighting capacity of machine slackens, and ground can send unmanned plane again, in the unmanned plane of the task of execution to the unmanned plane needs newly reinforced
Authentication operation is carried out, to prevent the unmanned plane of enemy that our unmanned plane cluster is added, destroys ad-hoc network, to support unmanned plane
The method combination Fig. 7 for carrying out legitimacy detection is illustrated.
Fig. 7 is the flow chart for checking unmanned plane legitimacy to be certified, as shown in fig. 7, checking unmanned plane legitimacy to be certified
Process include:
S01: any unmanned plane carries out terminal discovery operation in logical group, if it find that unmanned plane to be certified (or
The unmanned plane of person's cluster to be added), then authentication operation is carried out,
S02, it is authenticated, if it is legal unmanned plane node, there is new legal unmanned plane section to the transmission of group leader's node
The information frame that point is added, group leader's node send network configuration information, channel information and network mark to the unmanned plane node being newly added
Know, makes them that the described logical group be added, and change and update network topology, the approved qualified unmanned plane node is once
The logical group is added, it finds that all radio nodes in same logical group；Each nothing in the logical group
Man-machine node can all find the approved qualified unmanned plane node, be patrolled described in the approved qualified unmanned plane node addition with responding
Collect group；If it is illegal unmanned plane node, to group leader's unmanned plane node, transmission may be invasion unmanned plane node；
S03: it after group leader's unmanned plane node receives the information that may have invasion unmanned plane node, is then obtained by frequency spectrum perception
New channel, and broadcast message frame is sent, so that group member's node is all jumped to new channel and works.Collect unmanned plane section in group
Point carries out verifying to the unmanned plane node of the cluster to be added
Step 1: unmanned plane node V of the unmanned plane node T of cluster to be added into Logic NetworksdCluster, hair is added in application
It send and is identified as Kt；
Step 2: the unmanned plane node V in Logic NetworksdThe mark is transmitted to group leader's unmanned plane node；
Step 3: group leader unmanned plane node Gr, which is received, sends mark KtA random number R, group leader's unmanned plane node are generated afterwards
Gr calculates hashed value S=H (R, K according to hash function Hasht), and hashed value S is stored respectively in the nothing of cluster to be added
In man-machine node T and group leader's unmanned plane node Gr；
Step 4: hashed value S is randomly divided into n parts of secret information S by group leader unmanned plane node Gri, group leader's unmanned plane node Gr
Using symmetric encipherment algorithm, with key kviTo secret information SiIt carries out cryptographic calculation and obtains ciphertext value E (kvi,Si), and this is close
Text value E (kvi,Si) it is distributed to existing each unmanned plane node V in the logical group where group leader's unmanned plane node Gri, described
N is the number of nodes of unmanned plane in logical group；
Step 5: each unmanned plane node ViReceive the ciphertext value E (k that group leader's node Gr is sentvi,Si) after, with key kviIt is right
Secret information SiOperation D (k is decryptedvi,Si), obtain secret information SiAnd it is stored in each unmanned plane node ViIn itself；
Step 6: unmanned plane node VdInitiate data receiver request packet, it is desirable that existing unmanned plane node ViIn remove unmanned plane
Node VdOuter all unmanned plane nodes are the secret information S receivediAll it is transferred to unmanned plane node Vd；
Step 7: unmanned plane node VdWithin the time of restriction, all secret information S receivediInformation S ' is reverted to, together
When be compared with the hashed value S from unmanned plane node T to be certified received, it is if they are the same, then wide in entire logical group
It broadcasts a confirmation and determines packet；If not identical, do not send and recognize judgement packet；
Step 8: repeating step 1-7, number is not less than X, repeats the process that certification is implemented, if existing unmanned plane section
Point ViIn a certain unmanned plane node U receive confirmation determine packet reachThen node U it is confirmed that cluster to be added nothing
The legitimacy of man-machine node T, allows the unmanned plane node T of cluster to be added that cluster, i=1 is added, and 2 ... n., n are in cluster
The unmanned plane number of nodes of logical group where group leader's node Gr
The number is calculated as follows:
Pvi,vjIt is in hoc network any two
Node ViAnd VjStore the probability of same key.
In execution task, group leader's node needs to carry out to report position, the existing state, bullet of logical groups to the node of upper level
Medicine situation etc., or group member's node conveys information into this logic, and superior node or certain group member's nodes from group leader's node compared with
Far, intermediate to there is other nodes, therefore other nodes can be used as relay node, transfer group leader's node letter to be sent
Breath, is illustrated below with reference to Fig. 8.
Fig. 8 is the flow chart of the course of work of relay node provided by the invention.As shown in figure 8, logical group nobody
Machine node can play relaying, and the course of work includes:
S01: group member's node receives the mission bit stream frame of group leader, judges whether to be relay task, if it is, transitional information
Frame checks return information frame to destination node, then executes S02；If not relay task, then frame decoding, and according to assigning
Task execution after the completion of task, is awaited orders；
S02 judges whether to receive reply, if it is, the information frame that relay task is completed is sent to group leader's node, if
No, then sending superior node to group leader's node may be abnormal.
In the present invention, the process that a certain logical group in cluster is added in node to be certified includes:
S01: default frequency range is divided into N number of subchannel by any node in node and cluster to be certified, by N number of subchannel point
At n group subchannel group { F0,F1,F2,...,Fn-1, every group subchannel group has k sub-channels, then N=nk, wherein FiGroup
Groups of subchannels is expressed as
S02: the unmanned plane node of cluster to be added repeats to send probe on every group of an idle channel, and waits back
It answers；Any node constantly scans n group subchannel group in cluster, and is receiving transmitted by the unmanned plane node of cluster to be added
Back-signalling is sent on channel when probe.
S03: if the unmanned plane node of cluster to be added receives back-signalling transmitted by any terminal in cluster,
It then establishes and communicates to connect with the node in cluster, the terminal enters handshake authentication in the unmanned plane node and cluster of cluster to be added
Stage；If being not received by back-signalling transmitted by any terminal in cluster, S02 is returned.
The unmanned plane node of cluster to be added sends probe, and the specific method that awaits a response in idle channel with frequency-hopping mode
Include the following steps:
S03-1: the one sub-channels group F of unmanned plane node selection of cluster to be addedm, wherein m ∈ { 0,1 ..., n-1 },
With groups of subchannels FmThe traversal set of grouping: M={ F is reformulated for starting pointm,Fm+1,...,Fn-1,F0,...,Fm-1}；
S03-2: the unmanned plane node of cluster to be added is in channel group FmIt is middle sub with the presence or absence of the free time according to frequency spectrum perception
Channel；
S03-3: if channel group FmIn available free subchannel, then the unmanned plane node of cluster to be added length be TTX
Time slot in, an idle channel in the channel groupUpper transmission probe, wherein；z∈{0,1,...,k-1}；
S03-4: the unmanned plane node of cluster to be added is T in lengthRXTime slot in query response signal, wherein
S03-5: judging whether to receive the back-signalling of a certain node in cluster, if received, enters handshake phase；Such as
Fruit does not receive, then judges whether to be repeated k times, if be repeated k times, judges whether to have traversed all groups of subchannels；
If do not repeated k times, S03-3 is returned.
Any terminal constantly scans n group subchannel group in cluster, and in the unmanned plane node institute for receiving cluster to be added
The method for sending back-signalling when the probe of transmission on the channel that the unmanned plane node of cluster to be added sends probe includes such as
Lower step:
S04-1: each terminal chooses a sub-channels group F in clusterl, wherein l ∈ { 0,1 ..., n-1 }, with the sub- letter
Road group FlThe traversal set of grouping: L={ F is reformulated for starting pointl,Fl+1,...,Fn-1,F0,...,Fl-1}
S04-2: each terminal is in cluster with duration TbFor a frequency hop time slot, with T=kTbFor a cycle, traversal is currently
All k sub-channels in groups of subchannels are to search for the probe that the unmanned plane node of cluster to be added is sent；
S04-3: if the probe that the unmanned plane node for searching cluster to be added in current sub-channel group is sent, weighs
The spot scan groups of subchannels simultaneously sends back-signalling in the subchannel that the unmanned plane node of cluster to be added sends probe, goes forward side by side
Enter authentication phase；If the probe that the unmanned plane node for not searching cluster to be added in current sub-channel group is sent,
Judge whether to be repeated m times, if it is, judging whether to go through all over all groups of subchannels；If it is not, then S04-2 is returned, this
In, m is referred to as repeat factor, general value m < k.
The handshake authentication process of a certain node and the node of group to be added includes following processing step in cluster:
Synchronous cognitive phase: when the signal that the unmanned plane node of capture terminal a certain in cluster to cluster to be added issues
Afterwards, into synchronous cognitive phase, the cluster node can be obtained according to the subchannel position for the signal that it is captured at this time
Groups of subchannels where next time slot subchannel, thus in cluster the node no longer blindness all subchannel of scanning, but
Corresponding groups of subchannels is targetedly scanned using the signal captured.The unmanned plane node of cluster to be added, which receives, to be captured back
After induction signal, into synchronous phase；Synchronous phase: the node is to be certified to node to be certified transmission synchronic command guidance in cluster
Node enters synchronous phase, and node to be certified receives in cluster after synchronic command transmitted by the node, enters in given time
Handshake phase；The unmanned plane node of cluster to be added interacts the channel information respectively perceived with the node in cluster, according to corresponding
Subchannel selection strategy, select subchannel, establish metastable communication link；In cluster the node to node to be certified into
Certification of going has new node addition to group leader's report, does not pass through if authenticated, having to group leader's report can if certification passes through
There can be invasion node.
Method provided by the invention can be weaved into the program of computer application by various language, and be stored in as memory,
In the storage mediums such as Dropbox, cloud disk, processor can call the program to complete a series of function.Processor in the present invention
It may include digital signal processor (DSP), microprocessor, programmable logic device (PLD), gate array or multiple processing components
And power management subsystem.Processor may also include internal cache memory, the internal cache memory quilt
It is configured to store the computer-readable instruction for execution obtained from memory or control card.The memory includes non-
Transient computer medium, the medium is for example including SRAM, quick flashing, SDRAM and/or hard disk drive (HDD) etc..Memory quilt
Storage computer-readable instruction is configured to be executed by a processor.
Above in conjunction with attached drawing, the working principle of the invention is described in detail.But those skilled in the art should
Understand, specification is only for interpreting the claims.But protection scope of the present invention is not limited to specification.It is any to be familiar with
In the technical scope that the present invention discloses, the variation or replacement that can be readily occurred in should all be contained those skilled in the art
Lid is within protection scope of the present invention.Therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (9)
1. a kind of unmanned plane group system based on new energy framework comprising multiple unmanned planes are pressed level by multiple unmanned planes
Multiple logical groups are weaved into, the operation of unmanned plane node is participated in without server in the formation and logical group of logical group, nobody
Machine includes at least motor and the control system for controlling motor, and the motor includes a stator and a rotor,
Stator is set to rotor outer periphery, and the stator is staggeredly equipped in N polarity and the polar permanent magnet of S, and the stator at least wraps
The first stator winding and the second stator winding being staggered are included, alternating current is inputted by the first stator winding, passes through second
Stator winding sensitive electric current, which is characterized in that control system includes sampler described in phase discriminator and phase shifter for acquiring
It is input to the amplitude of the alternating current of the first stator winding, and is supplied to controller；The phase discriminator is input to for comparing
The alternating current of first stator winding and the faradic phase exported from the second stator winding, and it is supplied to phase shifter；Institute
It states signal that phase shifter is provided according to phase discriminator and phase shift is carried out then with first to the induced current exported from the second stator winding
Apply parallel with alternating current and the first stator winding.
2. the unmanned plane group system according to claim 1 based on new energy framework, which is characterized in that the control system
System further includes controller, sampler, phase driver and inverter；What the inverter provided power supply under the effect of phase driver
Direct current is converted to the alternating current for being applied to the first stator winding；The sampler is input to the first stator winding for acquiring
Alternating current amplitude, and be supplied to controller；Controller signal according to provided by sampler is generated to mutually driving
Dynamic device provides pulse width signal.
3. the unmanned plane group system according to claim 2 based on new energy framework, which is characterized in that control system is also
Including analog to digital conversion circuit and amplifier, the amplifier is used to amplify the voltage signal provided from sampler and is supplied to modulus
Conversion circuit, the modulus circuit is used to the signal that amplifier provides carrying out analog-to-digital conversion and generates digital signal, and provides
To controller；Controller provides number letter according to analog-digital converter and generates pwm signal.
4. the unmanned plane group system according to claim 3 based on new energy framework, which is characterized in that control system is also
Including logic controller, pwm signal is converted to and is used to control phase driver by logic controller response pwm signal and clock signal
Parallel signal.
5. the unmanned plane group system according to claim 4 based on new energy framework, which is characterized in that logic controller
Error signal can be transmitted to controller, respond error signal, motor controller can provide a correction to logic controller
Pwm signal and correction clock signal.
6. the unmanned plane group system according to claim 5 based on new energy framework, which is characterized in that power supply at least wraps
Photovoltaic cell and its control circuit are included, the control circuit of photovoltaic cell includes at least maximal power tracing module and pulse width tune
Circuit processed, the output of maximal power tracing module are connected to the input terminal of pulse width modulation circuit, pulse width modulation circuit
Including the first amplifier of operation and second operational amplifier, the output end of the first operational amplifier is connected to its inverting input terminal,
Its normal phase input end is connected to the output end of maximal power tracing module；The reverse side of second operational amplifier is connected to the first fortune
The output end of amplifier is calculated, in-phase end is connected to triangular wave frequency source, and output end is connected to the grid of field-effect tube;Field-effect
The source electrode and drain electrode of pipe is connected to power supply and ground.
7. the unmanned plane group system according to claim 6 based on new energy framework, which is characterized in that the power supply is also
Including at least braking circuit comprising transistor, diode and resistance, the emitter ground connection of transistor, collector are connected to two
The anode of pole pipe and the first end of resistance, base stage provide control signal by the winged control device of unmanned plane；The cathode and resistance of diode
Second end be connected to power supply.
8. the unmanned plane group system according to claim 1 based on new energy framework, which is characterized in that in logical group
Including at least group leader's node and multiple group member's nodes, group member's node send heartbeat data frame by whether receiving group leader's node
Judge whether group leader's node survives, group leader's node judges whether group member's node is deposited by the response whether hair receives group member's node
It is living.
9. the unmanned plane group system according to claim 8 based on new energy framework, which is characterized in that appoint in logical groups
One unmanned plane node can authenticate nobody of cluster to be added.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111348199A (en) * | 2018-12-21 | 2020-06-30 | 通用电气公司 | Motor-driven propeller of aircraft |
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2018
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111348199A (en) * | 2018-12-21 | 2020-06-30 | 通用电气公司 | Motor-driven propeller of aircraft |
| CN111348199B (en) * | 2018-12-21 | 2023-09-08 | 通用电气公司 | Motor-driven propeller of an aircraft |
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