CN109733620A - A kind of hybrid power unmanned plane and its control method - Google Patents
A kind of hybrid power unmanned plane and its control method Download PDFInfo
- Publication number
- CN109733620A CN109733620A CN201811396407.5A CN201811396407A CN109733620A CN 109733620 A CN109733620 A CN 109733620A CN 201811396407 A CN201811396407 A CN 201811396407A CN 109733620 A CN109733620 A CN 109733620A
- Authority
- CN
- China
- Prior art keywords
- wing
- unmanned plane
- control
- wing motor
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000005611 electricity Effects 0.000 claims abstract description 23
- 238000012544 monitoring process Methods 0.000 claims abstract description 18
- 230000003044 adaptive effect Effects 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 8
- 238000005520 cutting process Methods 0.000 claims description 6
- 230000010287 polarization Effects 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 2
- 238000000465 moulding Methods 0.000 claims 2
- 230000006978 adaptation Effects 0.000 claims 1
- 230000004044 response Effects 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 5
- 238000005457 optimization Methods 0.000 description 4
- 230000009897 systematic effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Hybrid Electric Vehicles (AREA)
Abstract
The invention discloses a kind of hybrid power unmanned plane and its control methods.Hybrid power unmanned plane includes fuselage, the first wing, the second wing, empennage, main screw, first to fourth wing motor, first to fourth wing propeller, the dynamic engine of oil, clutch, generator, battery pack, temperature sensor, pressure sensor, electricity monitoring module and control module.In unmanned plane takeoff and landing, oil moves engine driving main screw, wing motor driven wing propeller and provides power to unmanned plane jointly, provides power by the wing motor driven wing propeller of wing two sides when cruise in the air for unmanned plane；The power that the dynamic engine of oil generates can drive generator work by axis, and the electric energy that generator generates is stored in battery pack.Hybrid power unmanned plane proposed by the present invention has many advantages, such as that load-carrying is big, course continuation mileage is long, structure is simple and control precision is high, fast response time.
Description
Technical field
The present invention relates to unmanned plane fields, and in particular to a kind of hybrid power unmanned plane and its control method.
Background technique
In recent years, unmanned plane has been widely used in many industries with the fast development of unmanned plane industry.So
And unmanned plane common at present mostly provides power with pure battery pack or pure engine provides power.Pure battery pack provides power
Unmanned plane have stability is good, fast response time, continuous power are adjusted, by highly influence it is small, be easily manipulated, but course continuation mileage
Shorter and poor dynamic property feature.And the unmanned plane that pure engine provides power has preferable power performance, but control
The sensitivity behaviour of system is poor, efficiency is influenced by flying height.In addition, required power is cruise in unmanned plane landing
4 times or so of state need to be equipped with powerful motor to whole to unmanned plane if individually providing power by motor
The volume and weight of machine brings adverse effect.When unmanned plane is in cruising condition, required power is smaller, if by engine
The efficiency of engine can be made lower if providing power, be unfavorable for the economy of unmanned plane and the promotion of course continuation mileage.
Summary of the invention
The technical problem to be solved by the present invention is to it is dynamic to provide a kind of mixing for defect involved in background technique
Power unmanned plane and its control method.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of hybrid power unmanned plane includes fuselage, the first wing, the second wing, empennage, main screw, first to the
Four wing motors, first to fourth wing propeller, oil dynamic engine, clutch, generator, battery pack, temperature sensor, pressure
Force snesor, electricity monitoring module and control module；
First wing, the second wing are separately positioned on fuselage two sides；The dynamic engine of the oil, clutch, generator,
Battery pack, electricity monitoring module are arranged in the fuselage；
The first wing motor, the second wing motor are arranged in the leading edge of first wing, and output shaft is respectively and institute
State the first wing propeller, the shaft of the second wing propeller is connected；
The third wing motor, the 4th wing motor are arranged in the leading edge of second wing, and output shaft is respectively and institute
State third wing propeller, the shaft of the 4th wing propeller is connected；
The empennage is equipped with the lifting rudder face for controlling unmanned plane pitching corner；
The output that the main screw setting passes through the clutch and the dynamic engine of the oil in afterbody, shaft
Axis is connected；
The output shaft of the dynamic engine of oil also passes through transmission mechanism and is connected with the input shaft of the generator；
The battery pack and the generator, electricity monitoring module are electrically connected, wherein the generator is for generating electricity simultaneously
By in power storage to battery pack, the electricity monitoring module is used to incude the electricity of the battery pack and passes it to institute
State control module；
The temperature sensor, pressure sensor are arranged on the fuselage, wherein the temperature sensor is for feeling
It answers environment temperature and passes it to the control module；The pressure sensor is for incuding atmospheric pressure and passing it to institute
State control module；
The control module moves engine, clutch, elevator with the temperature sensor, pressure sensor, oil respectively
Face, first to fourth wing motor are electrically connected, for dynamic according to the sensed data of temperature sensor, pressure sensor control oil
Engine, clutch, lifting rudder face, the work of first to fourth wing motor.
The invention also discloses a kind of control methods of hybrid power unmanned plane comprising the steps of:
Step 1.1), when unmanned plane takes off, control module controls clutch closure, and controls oil dynamic engine, first
It works to the 4th wing motor, at this point, main screw, first to fourth wing propeller provide power, battery pack for unmanned plane
In charged state；
Step 1.2), when unmanned plane cruise, control module controls clutch cutting, and controls oil dynamic engine, first
It works to the 4th wing motor, at this point, first to fourth wing propeller provides power for unmanned plane, battery pack is in charging shape
State；
Step 1.3) detects battery when the flying height of unmanned plane is greater than preset height threshold and electric quantity monitoring module
When the state-of-charge of group is less than preset power threshold, control module controls clutch cutting, the dynamic engine stop work of control oil
Make, while controlling the work of first to fourth wing motor, at this point, first to fourth wing propeller provides power for unmanned plane,
Battery pack is in non-charged state；
Step 1.4), when unmanned plane landing, control module controls clutch closure, and controls oil dynamic engine, first
It works to the 4th wing motor, at this point, main screw, first to fourth wing propeller provide power, battery pack for unmanned plane
In charged state.
As a kind of further optimization method of control method of hybrid power unmanned plane of the present invention, for first to fourth
The specific control method of each of wing motor wing motor, control module comprises the steps of:
Step 2.1), control module calculate ideal wing motor corner, are closed with the actual rotational angle of wing motor
Loop self-adaptive fuzzy-adaptation PID control obtains the rotating speed of target of wing motor；
Step 2.2) carries out closed loop adaptive fuzzy with the actual speed of the rotating speed of target of wing motor and wing motor
PID control obtains the target current of wing motor；
Step 2.3) carries out closed loop adaptive fuzzy with the actual current of the target current of wing motor and wing motor
PID control obtains the target voltage of wing motor；
Target voltage is applied to the work of wing motor driven wing motor by step 2.4).
As a kind of further optimization method of control method of hybrid power unmanned plane of the present invention, wing in step 2.1)
The actual current of wing motor is all in the actual speed, step 2.3) of wing motor in the actual rotational angle of motor, step 2.2)
Using the optimal estimation value obtained after Kalman filtering.
As a kind of further optimization method of control method of hybrid power unmanned plane of the present invention, hybrid power unmanned plane
Height control method it is as follows:
Step 3.1), control module calculate the height of unmanned plane according to the data of pressure sensor and temperature sensor:
H=[Tb/ (- 0.0065)] [(Ph/Pb)0.190263-1]+Hb
In formula, H is unmanned plane height, and Tb is the surface temperature of takeoff point, and Hb is takeoff point height above sea level, and Pb is takeoff point
Ground air static pressure, Ph are present level static air pressure；
Step 3.2), control module carry out closed loop H according to the actual height of object height and unmanned plane2/H∞Mixing control,
Obtain target pitch angle；
Step 3.3), control module with target pitch angle with and unmanned plane practical pitch angle progress closed loop adaptive fuzzy
PID control obtains target pitch angular speed；
Step 3.4), control module with target pitch angular speed with and unmanned plane practical pitch rate carry out closed loop oneself
It adapts to fuzzy-adaptation PID control and obtains the control input quantity of lifting rudder face, and then control lifting rudder face and make unmanned plane according to target height
Degree flight.
As a kind of further optimization method of control method of hybrid power unmanned plane of the present invention, electricity in step 1.3)
Specific step is as follows for the state-of-charge of monitoring modular detection battery pack:
Based on Order RC circuit model, estimated using state-of-charge of the expanded Kalman filtration algorithm to battery pack,
With the state-of-charge SOC of battery, capacitance voltage U1、U2For state variable, end electric current I is input variable, and end voltage V is that output becomes
Amount, separate manufacturing firms model and observation model are as follows:
V (k)=Z (SOC (k))-U1(k)-U2(k)-RiI(k)+v(k)
Wherein: C1、C2For the polarization capacitance of Order RC circuit, R1、R2For the polarization resistance value of Order RC circuit, Δ t is to adopt
Sample time, v (k) are to measure noise, and η is efficiency for charge-discharge, and ω (k) is process noise, and Z (SOC (k)) is the OCV- that fitting obtains
SOC relation function.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
Compared with prior art, the hybrid power unmanned plane in the present invention and the existing engine of mode switch control method mention
Make the advantage that unmanned plane course continuation mileage is long, loading capacity is big for power；Possess battery pack offer power unmanned plane again simultaneously to stablize
Property good, fast response time, continuous power adjust, by highly influence it is small, be easily manipulated the advantages of；Furthermore by tricyclic PID control with
Kalman filtering algorithm applies to the control of wing motor, significantly improves the control precision of unmanned plane with response speed, and
Interference noise can effectively be inhibited.
Detailed description of the invention
Fig. 1 is a kind of hybrid power unmanned plane schematic diagram provided in an embodiment of the present invention；
Fig. 2 is a kind of hybrid power unmanned plane entirety control method schematic diagram provided in an embodiment of the present invention.
Fig. 3 is a kind of control method schematic diagram of hybrid power unmanned plane wing motor provided in an embodiment of the present invention；
Fig. 4 is parameter self-tuning fuzzy PID controller schematic diagram provided in an embodiment of the present invention；
Fig. 5 is unmanned plane height control method schematic diagram provided in an embodiment of the present invention；
Fig. 6 is Order RC circuit model schematic provided in an embodiment of the present invention；
In figure, 1- fuselage, 2- wing, 3- generator, 4- oil moves engine, 5- main screw, 6- clutch, 7- transmission
Axis, 8- wing motor, 9- wing propeller, 10- battery pack, 11- empennage, 12- go up and down rudder face.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
The present invention can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.On the contrary,
It is thorough and complete to these embodiments are provided so that the disclosure, and model of the invention will be given full expression to those skilled in the art
It encloses.In the accompanying drawings, for the sake of clarity it is exaggerated component.
As shown in Figure 1, the invention discloses a kind of hybrid power unmanned plane, comprising fuselage, the first wing, the second wing,
Empennage, main screw, first to fourth wing motor, first to fourth wing propeller, oil dynamic engine, clutch, power generation
Mechanical, electrical pond group, temperature sensor, pressure sensor, electricity monitoring module and control module；
First wing, the second wing are separately positioned on fuselage two sides；The dynamic engine of the oil, clutch, generator,
Battery pack, electricity monitoring module are arranged in the fuselage；
The first wing motor, the second wing motor are arranged in the leading edge of first wing, and output shaft is respectively and institute
State the first wing propeller, the shaft of the second wing propeller is connected；
The third wing motor, the 4th wing motor are arranged in the leading edge of second wing, and output shaft is respectively and institute
State third wing propeller, the shaft of the 4th wing propeller is connected；
The empennage is equipped with the lifting rudder face for controlling unmanned plane pitching corner；
The output that the main screw setting passes through the clutch and the dynamic engine of the oil in afterbody, shaft
Axis is connected；
The output shaft of the dynamic engine of oil also passes through transmission mechanism and is connected with the input shaft of the generator；
The battery pack and the generator, electricity monitoring module are electrically connected, wherein the generator is for generating electricity simultaneously
By in power storage to battery pack, the electricity monitoring module is used to incude the electricity of the battery pack and passes it to institute
State control module；
The temperature sensor, pressure sensor are arranged on the fuselage, wherein the temperature sensor is for feeling
It answers environment temperature and passes it to the control module；The pressure sensor is for incuding atmospheric pressure and passing it to institute
State control module；
The control module moves engine, clutch, elevator with the temperature sensor, pressure sensor, oil respectively
Face, first to fourth wing motor are electrically connected, for dynamic according to the sensed data of temperature sensor, pressure sensor control oil
Engine, clutch, lifting rudder face, the work of first to fourth wing motor.
As shown in Fig. 2, the invention also discloses a kind of control methods of hybrid power unmanned plane comprising the steps of:
Step 1.1), when unmanned plane takes off, control module controls clutch closure, and controls oil dynamic engine, first
It works to the 4th wing motor, at this point, main screw, first to fourth wing propeller provide power, battery pack for unmanned plane
In charged state；
Step 1.2), when unmanned plane cruise, control module controls clutch cutting, and controls oil dynamic engine, first
It works to the 4th wing motor, at this point, first to fourth wing propeller provides power for unmanned plane, battery pack is in charging shape
State；
Step 1.3) detects battery when the flying height of unmanned plane is greater than preset height threshold and electric quantity monitoring module
When the state-of-charge of group is less than preset power threshold, control module controls clutch cutting, the dynamic engine stop work of control oil
Make, while controlling the work of first to fourth wing motor, at this point, first to fourth wing propeller provides power for unmanned plane,
Battery pack is in non-charged state；
Step 1.4), when unmanned plane landing, control module controls clutch closure, and controls oil dynamic engine, first
It works to the 4th wing motor, at this point, main screw, first to fourth wing propeller provide power, battery pack for unmanned plane
In charged state.
As shown in figure 3, for each of first to fourth wing motor wing motor, the specific control of control module
Method comprises the steps of:
Step 2.1), control module calculate ideal wing motor corner, are closed with the actual rotational angle of wing motor
Loop self-adaptive fuzzy-adaptation PID control obtains the rotating speed of target of wing motor；
Step 2.2) carries out closed loop adaptive fuzzy with the actual speed of the rotating speed of target of wing motor and wing motor
PID control obtains the target current of wing motor；
Step 2.3) carries out closed loop adaptive fuzzy with the actual current of the target current of wing motor and wing motor
PID control obtains the target voltage of wing motor；
Target voltage is applied to the work of wing motor driven wing motor by step 2.4).
It is illustrated in figure 4 the principle of parameter self-tuning fuzzy PID controller, the actual rotational angle of wing motor, step in step 2.1)
It is rapid 2.2) in the actual speed of wing motor, the actual current of wing motor is all using after Kalman filtering in step 2.3)
The optimal estimation value arrived.
Kalman filtering is divided into two parts: time update equation and measurement updaue equation, wherein time update equation portion
Divide and primarily serve predicting function, is responsible for calculating the estimated value of k moment state variable and covariance, provides priori for k moment state
Estimation；Measurement updaue equation part primarily serves corrective action, is responsible for feedback, prior estimate is mutually tied with new measurand
It closes, provides improved Posterior estimator for k moment state, the steps include:
Step is A.1), by the optimal value estimated value at k-1 moment go the corner of system wing motor at estimation k moment, revolving speed,
The optimal value of electric current:
X (k | k-1)=Ax (k-1 | k-1)+Bu (k)
In formula, x (k-1 | k-1) is the optimal estimation value at k-1 moment, and x (k | k-1) it is the k obtained using k-1 moment state
Moment predicted value, u (k) are the control amount at k moment, and A, B are system gain matrix；
Step is A.2), by the evaluated error at error covariance and process noise the prediction k moment at k-1 moment:
P (k | k-1)=AP (k-1 | k-1) AT+Q；
In formula, P (k | k-1) is the corresponding covariance of x (k | k-1), and P (k-1 | k-1) is the corresponding association side x (k-1 | k-1)
Difference, ATIndicate the transposed matrix of A, Q is the covariance of systematic procedure noise；
Step is A.3), calculate kalman gain matrix:
Kk=P (k | k-1) HT/(HP(k|k-1)HT+R)
In formula, KkFor the kalman gain at k moment, R is the covariance of systematic survey noise；H is systematic survey matrix；
Step is A.4), correction and corner, the revolving speed, electric current optimal estimation value for updating current airfoils motor:
X (k | k)=x (k | k-1)+Kk(Z(k)-Hx(k|k-1))
In formula, Z (k) is the measured value at k moment, and x (k | k) is the optimal estimation value at k moment；
Step is A.5), optimal estimation error is updated for next sampling period:
P (k | k)=(I-KkH)P(k|k-1)
In formula, P (k | k) is the covariance of k moment x (k | k), and I is unit matrix.
As shown in figure 5, the height control method of hybrid power unmanned plane is as follows:
Step 3.1), control module calculate the height of unmanned plane according to the data of pressure sensor and temperature sensor:
H=[Tb/ (- 0.0065)] [(Ph/Pb)0.190263-1]+Hb
In formula, H is unmanned plane height, and Tb is the surface temperature of takeoff point, and Hb is takeoff point height above sea level, and Pb is takeoff point
Ground air static pressure, Ph are present level static air pressure；
Step 3.2), control module carry out closed loop H according to the actual height of object height and unmanned plane2/H∞Mixing control,
Obtain target pitch angle；
Step 3.3), control module with target pitch angle with and unmanned plane practical pitch angle progress closed loop adaptive fuzzy
PID control obtains target pitch angular speed；
Step 3.4), control module with target pitch angular speed with and unmanned plane practical pitch rate carry out closed loop oneself
It adapts to fuzzy-adaptation PID control and obtains the control input quantity of lifting rudder face, and then control lifting rudder face and make unmanned plane according to target height
Degree flight.
As shown in fig. 6, in step 1.3) electric quantity monitoring module detection battery pack state-of-charge specific step is as follows:
Based on Order RC circuit model, estimated using state-of-charge of the expanded Kalman filtration algorithm to battery pack,
With the state-of-charge SOC of battery, capacitance voltage U1、U2For state variable, end electric current I is input variable, and end voltage V is that output becomes
Amount, separate manufacturing firms model and observation model are as follows:
V (k)=Z (SOC (k))-U1(k)-U2(k)-RiI(k)+v(k)
Wherein: C1、C2For the polarization capacitance of Order RC circuit, R1、R2For the polarization resistance value of Order RC circuit, Δ t is to adopt
Sample time, v (k) are to measure noise, and η is efficiency for charge-discharge, and ω (k) is process noise, and Z (SOC (k)) is the OCV- that fitting obtains
SOC relation function.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (6)
1. a kind of hybrid power unmanned plane, which is characterized in that comprising fuselage, the first wing, the second wing, empennage, main screw,
First to fourth wing motor, first to fourth wing propeller, oil dynamic engine, clutch, generator, battery pack, temperature
Sensor, pressure sensor, electricity monitoring module and control module；
First wing, the second wing are separately positioned on fuselage two sides；The oil dynamic engine, clutch, generator, battery
Group, electricity monitoring module are arranged in the fuselage；
The first wing motor, the second wing motor are arranged in the leading edge of first wing, and output shaft is respectively with described
One wing propeller, the shaft of the second wing propeller are connected；
The third wing motor, the 4th wing motor are arranged in the leading edge of second wing, and output shaft is respectively with described
Three wing propellers, the shaft of the 4th wing propeller are connected；
The empennage is equipped with the lifting rudder face for controlling unmanned plane pitching corner；
The output shaft phase that the main screw setting passes through the clutch and the dynamic engine of the oil in afterbody, shaft
Even；
The output shaft of the dynamic engine of oil also passes through transmission mechanism and is connected with the input shaft of the generator；
The battery pack and the generator, electricity monitoring module are electrically connected, wherein the generator is used to generate electricity and will be electric
It can store into battery pack, the electricity monitoring module is used to incude the electricity of the battery pack and passes it to the control
Molding block；
The temperature sensor, pressure sensor are arranged on the fuselage, wherein the temperature sensor is used for inductance loop
Border temperature simultaneously passes it to the control module；The pressure sensor is for incuding atmospheric pressure and passing it to the control
Molding block；
The control module respectively with the temperature sensor, pressure sensor, the dynamic engine of oil, clutch, lifting rudder face, the
One to the 4th wing motor is electrically connected, for starting according to the sensed data of temperature sensor, pressure sensor control oil is dynamic
Machine, clutch, lifting rudder face, the work of first to fourth wing motor.
2. the control method based on hybrid power unmanned plane described in claim 1, which is characterized in that comprise the steps of:
Step 1.1), when unmanned plane takes off, control module controls clutch closure, and controls the dynamic engine of oil, first to the
The work of four wing motors, at this point, main screw, first to fourth wing propeller provide power for unmanned plane, battery pack is in
Charged state；
Step 1.2), when unmanned plane cruise, control module controls clutch cutting, and controls the dynamic engine of oil, first to the
The work of four wing motors, at this point, first to fourth wing propeller provides power for unmanned plane, battery pack is in charged state；
Step 1.3) detects battery pack when the flying height of unmanned plane is greater than preset height threshold and electric quantity monitoring module
When state-of-charge is less than preset power threshold, control module controls clutch cutting, the dynamic engine stop work of control oil, together
When control first to fourth wing motor work, at this point, first to fourth wing propeller provides power, battery pack for unmanned plane
In non-charged state；
Step 1.4), when unmanned plane landing, control module controls clutch closure, and controls the dynamic engine of oil, first to the
The work of four wing motors, at this point, main screw, first to fourth wing propeller provide power for unmanned plane, battery pack is in
Charged state.
3. the control method of hybrid power unmanned plane according to claim 2, which is characterized in that for first to fourth machine
The specific control method of each of wing motor wing motor, control module comprises the steps of:
Step 2.1), control module calculate ideal wing motor corner, carry out closed loop certainly with the actual rotational angle of wing motor
It adapts to fuzzy-adaptation PID control and obtains the rotating speed of target of wing motor；
Step 2.2) carries out closed loop adaptive fuzzy PID control with the actual speed of the rotating speed of target of wing motor and wing motor
The target current of wing motor is made；
Step 2.3) carries out closed loop adaptive fuzzy PID control with the actual current of the target current of wing motor and wing motor
The target voltage of wing motor is made；
Target voltage is applied to the work of wing motor driven wing motor by step 2.4).
4. the control method of hybrid power unmanned plane according to claim 3, which is characterized in that wing electricity in step 2.1)
The actual current of wing motor is all adopted in the actual speed, step 2.3) of wing motor in the actual rotational angle of machine, step 2.2)
With the optimal estimation value obtained after Kalman filtering.
5. the control method of hybrid power unmanned plane according to claim 2, which is characterized in that hybrid power unmanned plane
Height control method is as follows:
Step 3.1), control module calculate the height of unmanned plane according to the data of pressure sensor and temperature sensor:
H=[Tb/ (- 0.0065)] [(Ph/Pb)0.190263-1]+Hb
In formula, H is unmanned plane height, and Tb is the surface temperature of takeoff point, and Hb is takeoff point height above sea level, and Pb is takeoff point ground
Static air pressure, Ph are present level static air pressure；
Step 3.2), control module carry out closed loop H according to the actual height of object height and unmanned plane2/H∞Mixing control, obtains
Target pitch angle；
Step 3.3), control module with target pitch angle with and unmanned plane practical pitch angle progress closed loop adaptive fuzzy PID
Control, obtains target pitch angular speed；
Step 3.4), control module with target pitch angular speed with and unmanned plane practical pitch rate progress closed-loop adaptation
Fuzzy-adaptation PID control obtains the control input quantity of lifting rudder face, and then controls lifting rudder face and unmanned plane is flown according to object height
Row.
6. the control method of hybrid power unmanned plane according to claim 2, which is characterized in that electricity is supervised in step 1.3)
Specific step is as follows for the state-of-charge of survey module detection battery pack:
Based on Order RC circuit model, estimated using state-of-charge of the expanded Kalman filtration algorithm to battery pack, with electricity
State-of-charge SOC, the capacitance voltage U in pond1、U2For state variable, end electric current I is input variable, and end voltage V is output variable,
Separate manufacturing firms model and observation model are as follows:
V (k)=Z (SOC (k))-U1(k)-U2(k)-RiI(k)+v(k)
Wherein: C1、C2For the polarization capacitance of Order RC circuit, R1、R2For the polarization resistance value of Order RC circuit, Δ t is when sampling
Between, v (k) is to measure noise, and η is efficiency for charge-discharge, and ω (k) is process noise, and Z (SOC (k)) is the OCV-SOC that fitting obtains
Relation function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811396407.5A CN109733620A (en) | 2018-11-22 | 2018-11-22 | A kind of hybrid power unmanned plane and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811396407.5A CN109733620A (en) | 2018-11-22 | 2018-11-22 | A kind of hybrid power unmanned plane and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109733620A true CN109733620A (en) | 2019-05-10 |
Family
ID=66357061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811396407.5A Pending CN109733620A (en) | 2018-11-22 | 2018-11-22 | A kind of hybrid power unmanned plane and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109733620A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110963050A (en) * | 2019-10-30 | 2020-04-07 | 河北淳博航空科技有限公司 | Multi-energy hybrid propulsion power system for unmanned aerial vehicle |
| CN111752291A (en) * | 2019-06-17 | 2020-10-09 | 广州极飞科技有限公司 | Height control method and device, unmanned aerial vehicle and storage medium |
| CN112046762A (en) * | 2020-09-07 | 2020-12-08 | 南京航空航天大学 | Turboprop engine-based hybrid unmanned aerial vehicle and take-off and landing control method thereof |
| CN112224423A (en) * | 2020-10-15 | 2021-01-15 | 南京航空航天大学 | Multi-power-source series-parallel hybrid fixed wing aircraft and control method thereof |
| CN112441228A (en) * | 2020-11-26 | 2021-03-05 | 广东国士健科技发展有限公司 | Energy-saving type half-rotation free flapping rotor aircraft |
| CN112455697A (en) * | 2020-12-11 | 2021-03-09 | 重庆工程职业技术学院 | Novel temperature control system of oil-electricity hybrid power water unmanned aerial vehicle |
| CN112455696A (en) * | 2020-12-03 | 2021-03-09 | 中国商用飞机有限责任公司 | Hybrid power airplane |
| CN112706929A (en) * | 2021-01-11 | 2021-04-27 | 南京航空航天大学 | Hybrid power system for fixed wing unmanned aerial vehicle and propelling method |
| CN115755983A (en) * | 2022-12-19 | 2023-03-07 | 深圳市好盈科技股份有限公司 | Multi-rotor unmanned aerial vehicle propeller locking positioning method and device |
| CN117163305A (en) * | 2023-09-04 | 2023-12-05 | 黑龙江惠达科技股份有限公司 | Method and device for detecting power system of unmanned aerial vehicle |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080184906A1 (en) * | 2007-02-07 | 2008-08-07 | Kejha Joseph B | Long range hybrid electric airplane |
| RU2529568C1 (en) * | 2013-08-15 | 2014-09-27 | Дмитрий Сергеевич Дуров | Cryogenic electrical convertiplane |
| CN104843181A (en) * | 2015-04-10 | 2015-08-19 | 桂林航龙科讯电子技术有限公司 | Petrol-electric hybrid power fixed wing vertical take-off and landing unmanned plane system |
| CN105539828A (en) * | 2015-12-08 | 2016-05-04 | 陈蜀乔 | Petrol-electric hybrid multi-rotor aerial vehicle capable of self electricity generation |
| CN106494614A (en) * | 2016-10-28 | 2017-03-15 | 清华大学 | Aircraft |
| CN206857002U (en) * | 2017-03-15 | 2018-01-09 | 西北工业大学 | Hybrid power tail sitting posture VTOL long endurance unmanned aircraft |
| CN207917151U (en) * | 2018-02-07 | 2018-09-28 | 天长市星舟航空技术有限公司 | Oily electricity mixing VTOL fixed-wing unmanned plane |
| CN208119432U (en) * | 2017-01-13 | 2018-11-20 | 沈阳航空航天大学 | A kind of electric assembly power unmanned vehicle of distributed oil |
-
2018
- 2018-11-22 CN CN201811396407.5A patent/CN109733620A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080184906A1 (en) * | 2007-02-07 | 2008-08-07 | Kejha Joseph B | Long range hybrid electric airplane |
| RU2529568C1 (en) * | 2013-08-15 | 2014-09-27 | Дмитрий Сергеевич Дуров | Cryogenic electrical convertiplane |
| CN104843181A (en) * | 2015-04-10 | 2015-08-19 | 桂林航龙科讯电子技术有限公司 | Petrol-electric hybrid power fixed wing vertical take-off and landing unmanned plane system |
| CN105539828A (en) * | 2015-12-08 | 2016-05-04 | 陈蜀乔 | Petrol-electric hybrid multi-rotor aerial vehicle capable of self electricity generation |
| CN106494614A (en) * | 2016-10-28 | 2017-03-15 | 清华大学 | Aircraft |
| CN208119432U (en) * | 2017-01-13 | 2018-11-20 | 沈阳航空航天大学 | A kind of electric assembly power unmanned vehicle of distributed oil |
| CN206857002U (en) * | 2017-03-15 | 2018-01-09 | 西北工业大学 | Hybrid power tail sitting posture VTOL long endurance unmanned aircraft |
| CN207917151U (en) * | 2018-02-07 | 2018-09-28 | 天长市星舟航空技术有限公司 | Oily electricity mixing VTOL fixed-wing unmanned plane |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111752291A (en) * | 2019-06-17 | 2020-10-09 | 广州极飞科技有限公司 | Height control method and device, unmanned aerial vehicle and storage medium |
| CN110963050B (en) * | 2019-10-30 | 2021-07-20 | 河北淳博航空科技有限公司 | Multi-energy hybrid propulsion power system for unmanned aerial vehicle |
| CN110963050A (en) * | 2019-10-30 | 2020-04-07 | 河北淳博航空科技有限公司 | Multi-energy hybrid propulsion power system for unmanned aerial vehicle |
| CN112046762A (en) * | 2020-09-07 | 2020-12-08 | 南京航空航天大学 | Turboprop engine-based hybrid unmanned aerial vehicle and take-off and landing control method thereof |
| CN112224423A (en) * | 2020-10-15 | 2021-01-15 | 南京航空航天大学 | Multi-power-source series-parallel hybrid fixed wing aircraft and control method thereof |
| CN112224423B (en) * | 2020-10-15 | 2022-04-08 | 南京航空航天大学 | Multi-power-source series-parallel hybrid fixed wing aircraft and control method thereof |
| CN112441228A (en) * | 2020-11-26 | 2021-03-05 | 广东国士健科技发展有限公司 | Energy-saving type half-rotation free flapping rotor aircraft |
| CN112455696A (en) * | 2020-12-03 | 2021-03-09 | 中国商用飞机有限责任公司 | Hybrid power airplane |
| CN112455697A (en) * | 2020-12-11 | 2021-03-09 | 重庆工程职业技术学院 | Novel temperature control system of oil-electricity hybrid power water unmanned aerial vehicle |
| CN112706929A (en) * | 2021-01-11 | 2021-04-27 | 南京航空航天大学 | Hybrid power system for fixed wing unmanned aerial vehicle and propelling method |
| CN112706929B (en) * | 2021-01-11 | 2022-04-05 | 南京航空航天大学 | Hybrid power system for fixed wing unmanned aerial vehicle and propelling method |
| CN115755983A (en) * | 2022-12-19 | 2023-03-07 | 深圳市好盈科技股份有限公司 | Multi-rotor unmanned aerial vehicle propeller locking positioning method and device |
| CN117163305A (en) * | 2023-09-04 | 2023-12-05 | 黑龙江惠达科技股份有限公司 | Method and device for detecting power system of unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109733620A (en) | A kind of hybrid power unmanned plane and its control method | |
| US20200277080A1 (en) | Systems and methods for in-flight operational assessment | |
| EP3299295B1 (en) | Vertical take-off and landing aircraft using hybrid electric propulsion system | |
| AU2014221189B2 (en) | Aircraft electric motor system | |
| CN106564604A (en) | Fuel-electric hybrid four-rotor power unit and control method thereof | |
| CN103869255A (en) | Micro-miniature electric unmanned aerial vehicle endurance time estimation method | |
| CN112046763B (en) | Multi-power-source tandem type hybrid unmanned aerial vehicle and control method thereof | |
| US11597295B1 (en) | System for monitoring a battery system in-flight and a method for its use | |
| Paulos et al. | An underactuated propeller for attitude control in micro air vehicles | |
| Podhradský et al. | Battery model-based thrust controller for a small, low cost multirotor Unmanned Aerial Vehicles | |
| CN112046762B (en) | Turboprop engine-based hybrid unmanned aerial vehicle and take-off and landing control method thereof | |
| CN109116727B (en) | PID type first-order full-format model-free self-adaptive cruise control algorithm based on low-pass filter | |
| CN113255143B (en) | Distributed hybrid electric propulsion aircraft energy management system | |
| CN109383783A (en) | Aero-engine energy-saving power-boost system | |
| CN114735199A (en) | Tandem rotor unmanned aerial vehicle and attitude adjustment control method | |
| CN109383785A (en) | Aerial platform with energy-saving power-boost system | |
| Feng et al. | Endurance improvement by battery dumping strategy considering Peukert effect for electric-powered disposable UAVs | |
| Lee et al. | Enhanced Calibration and Performance Prediction Method for Entire Propulsion System of eVTOL UAV | |
| CN109383784A (en) | Aerial platform with force aid system | |
| Guarino et al. | Design of Solar Powered Ultra-light Aircrafts Realization of a Model and its Validation | |
| CN113075879A (en) | Engine control system of tilt rotor unmanned aerial vehicle | |
| Carreño et al. | Fuzzy-PID controller design for UAV hybrid energy propelled with differential box | |
| JP2022167542A (en) | multicopter | |
| CN109383782A (en) | Aero-engine is escaped danger energy-saving power-boost system | |
| CN109573061A (en) | Aerial platform with energy-saving power-boost system of escaping danger |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190510 |