CN109733621A - A kind of hybrid power unmanned plane promoting mode more - Google Patents
A kind of hybrid power unmanned plane promoting mode more Download PDFInfo
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- CN109733621A CN109733621A CN201811539808.1A CN201811539808A CN109733621A CN 109733621 A CN109733621 A CN 109733621A CN 201811539808 A CN201811539808 A CN 201811539808A CN 109733621 A CN109733621 A CN 109733621A
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Abstract
The embodiment of the invention discloses the hybrid power unmanned planes that one kind promotes mode more, are related to air vehicle technique field, can be improved the dynamic property, economy and course continuation mileage of unmanned plane.The present invention includes: fuselage 6, wing 8, tail supporting rod 10 and empennage 11, the integrated starting of the installation of middle fuselage 6/generating integrated motor-ISG motor 1, electromagnetic clutch 2, engine 3, stand-by motor 4, small propeller 5, power battery 7 and main screw 9.The unmanned plane can realize the mixing of engine power and battery power, the operating condition according to locating for unmanned plane, using different propulsion operating modes, including hybrid propulsion mode in parallel, pure power mode and power generation cascade mode etc., the dynamic property, economy and course continuation mileage of unmanned plane can be effectively improved.The present invention is suitable for hybrid power unmanned plane.
Description
Technical field
The present invention relates to air vehicle technique field, more particularly to a kind of hybrid power unmanned plane for promoting mode more.
Background technique
As policy of the country to General Aviation industry is open and encourages to develop, unmanned air vehicle technique is in military and civil field
Using more and more extensive, large quantities of unmanned plane manufacturing enterprises with quite manufacture scale are continued to bring out, and unmanned air vehicle technique is in state
It advances triumphantly under the common promotion of family, enterprise and market.
At present unmanned plane on the market mainly pass through power form be divided into power battery unmanned plane and fuel engines without
It is man-machine.The power scheme of both forms, all have the defects that it is some intrinsic, such as: use battery pack form for motor confession
Electricity, this is the dynamic mode that most unmanned planes use, and flight control response is fast, and power density is big, but power battery is (as commonly used
Lithium battery etc.) energy density is lower, no matter fuselage how loss of weight, unmanned plane course continuation mileage is poor；Fuel engines power density
Greatly, unmanned plane course continuation mileage is longer, but aircraft control response is slower, and especially in the flat winged stage, engine operating efficiency is low,
Fuel economy is poor.
Therefore, before power battery technology is broken through, also take up to research and develop fuel electric generator+power battery in the industry
Also there are some experimental products at present in the unmanned plane of power supply, such as: a) use fuel engines as active force, lithium
For battery as auxiliary power, auxiliary power under the conditions of unmanned fleet power requirement is lower can improve continuation of the journey to a certain extent
Ability, but oily electric power cannot be mutually backups, and constrain the raising of its cruising ability, economy is not also high；B) fuel electric generator
It connects with power battery, generating electric power by engine is power battery charging, provides power by power battery for unmanned plane, this is aobvious
It writes and improves the course continuation mileage of unmanned plane, but unmanned plane dynamic property Shortcomings.In addition, existing UAV Fuel engine
Drawstring is needed to start mostly, dependable with function is also to be improved.
Therefore, the existing battery-powered scheme of fuel electric generator+power electric, the dynamic property of unmanned plane, economy and
It still is difficult to balance in the important indicators such as course continuation mileage, needs to further increase and optimize.
Summary of the invention
The embodiment of the present invention provides the hybrid power unmanned plane that one kind promotes mode more, is based on hybrid power unmanned plane,
The operating condition according to locating for unmanned plane, using different propulsion operating modes, including hybrid propulsion mode in parallel, pure power mode and string
Join power generation mode etc., the dynamic property, economy and course continuation mileage of unmanned plane can be effectively improved.
In order to achieve the above objectives, the embodiment of the present invention adopts the following technical scheme that
On the one hand, the hybrid power unmanned plane for more propulsion modes that the embodiment of the present invention provides, unmanned aerial vehicle body 6, machine
The wing 5, tail supporting rod 10 and empennage 11, middle fuselage 6 install ISG motor 1, electromagnetic clutch 2, engine 3, stand-by motor 4, small
Propeller 5, power battery 7 and main screw 9.
The unmanned aerial vehicle body connection wing, tail supporting rod and empennage, by the spoiler on wing and empennage to nothing
Man-machine flight attitude is regulated and controled, and realizes unmanned plane steering, pitching, the operation such as rolling.
There are five power sources for the unmanned plane dress, and four small propellers and stand-by motor are distributed in wing two sides, principal screw
Paddle is mounted on afterbody.Middle fuselage places engine, ISG motor, power battery etc. and determines position according to the center of gravity of airplane.
The ISG motor of the fuselage installation, ISG motor one end passes through electromagnetic clutch 2-1 and engine crankshaft output end
It is attached, when electromagnetic clutch 2-1 connection, ISG rotor is connect with engine crankshaft output end；ISG motor is another
End is attached by electromagnetic clutch 2-2 with main screw, when electromagnetic clutch 2-2 connection, ISG rotor and main spiral shell
Revolve paddle connection.
The power battery is connect with four stand-by motors and ISG motor respectively by circuit.Power battery is auxiliary
Motor provides electric energy, and small propeller is driven to provide a part of power for unmanned plane.
Further, the hybrid power unmanned plane, promoting mode includes hybrid propulsion mode in parallel.In this mode
Under, power battery and engine provide power simultaneously for unmanned plane, bear entirely suitable for unmanned plane take-off climb stage and high-altitude
Lotus ramp-up period.
Further, the hybrid power unmanned plane, propulsion mode include pure power mode.In such a mode, only by moving
Power battery provides power for unmanned plane, is suitable for unmanned plane flat winged stage and fall-retarding stage.
Further, the hybrid power unmanned plane, propulsion mode include power generation cascade mode.In such a mode, by
Engine provides power for entire unmanned plane, is suitable for the flat winged and power battery energy insufficient stage.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1, the present invention in existing unmanned plane dynamical system, to fuel electric generator+power battery power supply mode into
Row improves, and fuel engines, power battery not only individually, directly can provide power for unmanned plane, but also can be by the two simultaneously
Join and connect and provides power for unmanned plane.Bigger power-assisted is provided for unmanned plane under the conditions of parallel connection, embodies dynamic property；In power
When power is provided separately in battery, engine can stop working, and only be worked by efficient motor, embody economy；Series connection condition
Under, unmanned plane normal flight, and engine can be power battery charging, improve course continuation mileage.So the present invention takes into account
Dynamic property, economy and the course continuation mileage of unmanned plane.
2, using ISG motor, it is attached by electromagnetic clutch with fuel engines and main screw, is realized
The diversity of unmanned plane propulsion mode.Pass through the on-off for controlling electromagnetic clutch: aISG motor is directly opened as starting motor
Dynamic fuel engines avoids artificial drawstring starting, improves reliability, practicability and safety；BISG motor is as driving
Motor provides power jointly with fuel engines for main screw, enhances unmanned plane dynamic property；CISG motor as generator,
It is driven by fuel engines, is power battery charging, improves unmanned plane course continuation mileage.
3, hybrid power unmanned plane uses corresponding dynamic mode under different operating conditions, operates simpler.More power moulds
Formula also improves the anti-interference ability and fault-tolerant ability of unmanned plane, improves the field survivorship ability of unmanned plane.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the hybrid power unmanned plane structural schematic diagram for promoting mode provided in an embodiment of the present invention more；
Fig. 2 is the structural schematic diagram under engine start operating mode provided in an embodiment of the present invention；
Fig. 3 is a take-off climb stage and the high-altitude b full load under hybrid propulsion mode in parallel provided in an embodiment of the present invention
The structural schematic diagram of ramp-up period；
Fig. 4 is the structural schematic diagram under pure electric propulsion mode provided in an embodiment of the present invention flat winged/fall-retarding stage；
Fig. 5 is the structural schematic diagram under power generation cascade mode provided in an embodiment of the present invention；
Fig. 6 is the interaction schematic diagram of the control signal under engine start operating mode provided in an embodiment of the present invention；
Fig. 7 is a take-off climb stage and the high-altitude b full load under hybrid propulsion mode in parallel provided in an embodiment of the present invention
The interaction schematic diagram of the control signal of ramp-up period；
Fig. 8 is the friendship of the control signal under pure electric propulsion mode provided in an embodiment of the present invention flat winged/fall-retarding stage
Mutual schematic diagram；
Fig. 9 is the interaction schematic diagram of the control signal under power generation cascade mode provided in an embodiment of the present invention；
In figure, 1-ISG motor, 2- electromagnetic clutch, 3- engine, 4- stand-by motor, 5- small propeller, 6- fuselage, 7-
Power battery, 8- wing, 9- main screw, 10- tail supporting rod, 11- empennage, 12- flight control system, 13- Engine Start Signal,
14- flying height signal, 15- flying speed signal, 16- electromagnetic clutch control signal 1,17- electromagnetic clutch control signal
2,18- control of engine speed signal, 19- engine rotational speed signal, 20-ISG current controling signal, 21-SOC signal, 22-
ISG current of electric, 23- take-off climb signal, 24- stand-by motor current controling signal, 25- stand-by motor electric current, 26- full load
Climb the flat Fetion number of signal, 27-, 28- electrical signal, 29-ISG motor output electric current.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, with reference to the accompanying drawing and specific embodiment party
Present invention is further described in detail for formula.Embodiments of the present invention are described in more detail below, the embodiment is shown
Example is shown in the accompanying drawings, and in which the same or similar labels are throughly indicated same or similar element or has identical or class
Like the element of function.It is exemplary below with reference to the embodiment of attached drawing description, for explaining only the invention, and cannot
It is construed to limitation of the present invention.Those skilled in the art of the present technique are appreciated that unless expressly stated, odd number shape used herein
Formula " one ", "one", " described " and "the" may also comprise plural form.It is to be further understood that specification of the invention
Used in wording " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that
In the presence of or add other one or more features, integer, step, operation, element, component and/or their group.It should be understood that
When we say that an element is " connected " or " coupled " to another element, it can be directly connected or coupled to other elements, or
There may also be intermediary elements.In addition, " connection " used herein or " coupling " may include being wirelessly connected or coupling.Here make
Wording "and/or" includes one or more associated any cells for listing item and all combinations.The art
Technical staff is appreciated that unless otherwise defined, all terms used herein include technical terms and scientific terms have with
The identical meaning of the general understanding of those of ordinary skill in fields of the present invention.It should also be understood that such as general words
Those terms, which should be understood that, defined in allusion quotation has a meaning that is consistent with the meaning in the context of the prior art, and removes
It is non-to be defined as here, it will not be explained in an idealized or overly formal meaning.
The embodiment of the present invention provides the hybrid power unmanned plane that one kind promotes mode more, as shown in Figure 1, the unmanned plane
Component part includes at least: fuselage 6, wing 8, tail supporting rod 10 and empennage 11, is equipped with ISG in middle fuselage 6 and starts/generate electricity one
Body motor 1, electromagnetic clutch 2, engine 3, stand-by motor 4, small propeller 5, power battery 7 and main screw 9；
Fuselage 6 connects wing 8, tail supporting rod 10 and empennage 11, the spoiler on wing 8 and empennage 11, for the nothing
Man-machine flight attitude is regulated and controled, thus realize unmanned plane steering, pitching, the operation such as rolling
Four several small propellers 5 and stand-by motor 4 are distributed in 8 two sides of wing, and main screw 9 is mounted on 6 tail portion of fuselage, such as
It is shown in FIG. 1.
Place engine 3, ISG motor 1 and power battery 7 in the middle section of fuselage 6, wherein all parts in fuselage 6 can
To determine position according to the center of gravity of airplane.
Wherein, one end of ISG motor 1, the crankshaft by the first clutch part 2-1 and engine 3 of electromagnetic clutch 2 are defeated
Outlet is attached, when the first clutch part 2-1, which is closed, to be connected, the rotor of ISG motor 1 and the crankshaft output end of engine 3
Connection；
The other end of ISG motor 1 is attached by the second clutch part 2-2 and the main screw 9 of electromagnetic clutch 2,
When the second clutch part 2-2, which is closed, to be connected, 1 rotor of ISG motor is connect with main screw 9；
Power battery 7 is connect with four stand-by motors 4 and ISG motor 1 respectively, and power battery 7 is used to mention for stand-by motor 4
For electric energy, and small propeller 5 is driven to provide power for the unmanned plane；
Power battery 7 is connect with ISG motor 1, wherein the ISG motor 1 when power battery 7 is in working condition as motor
Electric energy is provided, alternatively, power battery 7 receives the electric energy that the ISG motor 1 when working condition is generator issues and storage.
When unmanned plane starts to start, ISG motor 1 is when engine 3 is shut down as starting motor, wherein electromagnetic clutch
2-1 closure, electromagnetic clutch 2-2 are disconnected, and power battery 7 is directly powered for the rotor of ISG motor 1, by the rotor of ISG motor 1
Drive the crank rotation of engine 3 to start engine 3.
Such as it is shown in Fig. 2, electromagnetic clutch 2-1 is in closed state, and electromagnetic clutch 2-2 is in an off state.ISG
The rotor of motor 1 and the crankshaft output end of engine 3 link together, and power battery 7 provides electric current to ISG motor 1, drive
1 rotor of ISG motor reaches starting revolving speed VS, so that engine 3 be driven to start, after starting, power battery 7 is no longer to ISG motor 1
Power supply, ISG motor 1 are in light condition.Engine maintains idling V0。
Specifically, the starting control process of engine 3 includes:
Flight control system 12 judges that can power battery 7 have enough electric energy starting engines 3；
If so, closing electromagnetic clutch 2-1 to electromagnetic clutch 2-1 output electromagnetic clutch control signal 1 (16)
It closes, and to electromagnetic clutch 2-2 output electromagnetic clutch control signal 2 (17), disconnects electromagnetic clutch 2-2；
According to the flying height signal 14 and flying speed signal 15 of the unmanned plane, determine that engine 3 starts revolving speed；
The revolving speed of ISG motor 1 is determined according to the starting revolving speed, wherein the revolving speed of ISG motor 1 and the starting revolving speed
It is identical；
Current controling signal is transmitted to power battery 7, is that ISG motor 1 provides power-assisted by power battery 7.
For example, as shown in FIG. 6, Engine Start Signal 13, power battery SOC signal 21, unmanned plane height letter
Number, unmanned plane during flying speed signal 15 be input to system for flight control computer 12, judge that can power battery have according to SOC signal 21
Enough power start engines, when power battery energy abundance, flight control system 12 controls to electromagnetic clutch 2-1 and exports electromagnetism
Clutch control signal 1 (16), so that electromagnetic clutch 2-1 is closed；To electromagnetic clutch 2-2 output electromagnetic clutch control letter
Number 2 (17), so that electromagnetic clutch 2-2 is disconnected.Meanwhile altitude signal of the flight control system 12 according to flight, flying speed signal
15 determine engine start revolving speed VSPreset unmanned plane height-flying speed-engine start revolving speed Map figure, according to this turn
Speed determines ISG motor speed ISG motor driven engine, and the two revolving speed is identical, to be passed from flight control system 12 to power battery
Current controling signal 1 is passed, provides power-assisted by power battery for ISG motor.To ensure that engine can normally start, using inside and outside
Ring control method, inner ring use current feedback tracing control, it is ensured that the output electric current of power battery can reach desired value；Outer ring
Using engine speed PID control, the starting revolving speed that control of engine speed signal 18 is determined with flight control system 12 is compared
Compared with, it is ensured that engine can quickly reach starting revolving speed VS。
When engine 3 works, ISG motor 1 can be remained idle；Engine 3 connects main screw by ISG motor 1
9, and power is transmitted for main screw 9.The unmanned plane enters connection hybrid propulsion mode at this time, specifically, the unmanned plane
The control process in the take-off climb stage in the case where joining hybrid propulsion mode includes:
Main screw is connected the revolving speed of the determining main screw 9 of flight control system 12 with engine at this time, and V1 is that engine turns
The revolving speed of speed and 4 small propellers 5；
It is that the respective stand-by motor 4 of small propeller 5 provides electric current by power battery 7；
Wherein, as shown in part (a) in Fig. 3, after the starting of engine 3, the power-off idle running of ISG motor 1, electromagnetic clutch
2-1 and electromagnetic clutch 2-2, which is powered, to be closed；At this point, 9 phase of the crankshaft output end of engine 3,1 rotor of ISG motor and main screw
It connects, engine 3 directly drives main screw 9 and generates power；Meanwhile power battery 7 is that 4 stand-by motors 4 mention on wing 8
For electric energy, 4 small propellers 5 is driven to provide power for the unmanned plane.
For example, as shown in part (a) in Fig. 7, the parallel connection hybrid propulsion mode is moved in the take-off climb stage
Power battery 7 is that ISG motor 1 provides electric energy, and electromagnetic clutch 2-1 is closed at this time, and ISG motor 1 starts engine 3, and engine 3 opens
After dynamic, the power-off idle running of ISG motor 1, electromagnetic clutch 2-2, which is powered, to be closed, at this time 1 turn of 3 crankshaft output end of engine, ISG motor
Son and main screw 9 are connected with each other, and engine 3 directly drives main screw 9 and generates power；Meanwhile power battery 7 is wing
4 stand-by motors 4 provide electric energy on 8, and 4 small propellers 5 is driven to provide power for unmanned plane.
In the take-off climb stage, system for flight control computer 12 receive take-off climb signal 23, power battery SOC signal 21,
Unmanned plane altitude signal, unmanned plane during flying speed signal 15 etc. determine main rotor system RPMs V1 main screw and engine at this time
It is connected, V1 is engine speed and 4 small propeller revolving speed V2.At this point, electromagnetic clutch 2-1 and 2-2 are in closed form
State, flight control system 12 control power battery and provide electric current for 4 stand-by motors, still use inner and outer ring control method, inner ring at this time
Using Current Feedback Control, outer ring uses stand-by motor revolving speed PID control；Meanwhile flight control system 12 sends engine speed letter
Numbers 19 give engine, using PID control, the engine rotational speed signal 19 that engine is fed back are compared with V1, so that starting
Machine can provide power rapidly for unmanned plane take-off climb.
When unmanned plane take-off climb stage and high-altitude full load ramp-up period, need to effectively improve the power of unmanned plane
Property.Therefore, when engine 3 works, ISG motor 1 and power battery 7 are connected, and are mentioned together for main screw 9 with engine 3
For power.
Specifically, unmanned plane is adjusted to hybrid propulsion mode in parallel when hybrid power unmanned plane is in the take-off climb stage.
In such a mode, power battery 7 and engine 3 provide power simultaneously for unmanned plane, and after engine 3 starts, ISG motor 1 is disconnected
Electricity idle running, electromagnetic clutch 2-2, which is powered, to be closed, at this time 3 crankshaft output end of engine, 1 rotor of ISG motor and main screw 9
It is connected with each other, engine 3 directly drives main screw 9 and generates power；Meanwhile power battery 7 is 4 stand-by motors 4 on wing 8
Electric energy is provided, 4 small propellers 5 is driven to provide power for unmanned plane.
Further, as shown in part (b) in Fig. 3, the high-altitude in the case where joining hybrid propulsion mode of the unmanned plane is complete
The control process of load ramp-up period includes:
Flight control system 12 sends speed controling signal to engine 3；And stand-by motor electric current 25 is sent to power battery 7 and is controlled
Signal 24 processed, triggering power battery 7 are that ISG motor 1 exports electric energy；Wherein, the unmanned plane is by 4 small propellers 5 and main spiral shell
It revolves paddle 9 and power is provided jointly；At this point, power battery 7 is that ISG motor 1 provides electric energy, ISG motor 1 and engine 3 drive jointly
Main screw 9.9 power output of main screw is stronger at this time, further improves the dynamic property of unmanned plane.
For example, as shown in part (b) in Fig. 7, the power of high-altitude full load ramp-up period, main screw will be by sending out
Motivation provides jointly with ISG motor, therefore flight control system 12 is in addition to providing control of engine speed signal 18 to engine, auxiliary
Current of electric 25 controls signal 24 to power battery, it is also necessary to provide electric current by power battery for ISG motor.
When hybrid power unmanned plane is in high-altitude full load ramp-up period, unmanned plane still in hybrid propulsion mode in parallel,
At this point, although unmanned plane still provides power by 4 small propellers 5 and 1 main screw 9, with take-off climb stage ISG
The power-off idle running of motor 1 is different, and power battery 7 is that ISG motor 1 provides electric energy at this time, and driving is led jointly for ISG motor 1 and engine 3
Propeller 9,9 power output of main screw is stronger at this time.When unmanned plane is in flat winged stage and fall-retarding stage, unmanned plane
Using including pure power mode.
Unmanned plane only provides power by 4 small propellers 5, is provided by power battery 7 for 4 stand-by motors 4 on wing 8
Electric energy, meanwhile, engine 3 is shut down, and electromagnetic clutch 2-1,2-2 power-off separation, main screw 9 is unloaded not to work.
Further, when the remaining capacity of power battery 7 is lower than pre-determined threshold, closed electromagnetic clutch 2-1 and disconnection
Electromagnetic clutch 2-2.ISG motor 1 is used as generator at this time, converts power storage to power electric for the mechanical energy of engine 3
In pond 7.For example, putting down the winged and power battery energy insufficient stage when unmanned plane is in, unmanned plane uses power generation cascade mode.Herein
Under mode, power is provided for entire unmanned plane by engine 3, at this point, electromagnetic clutch 2-1 is closed, electromagnetic clutch 2-2 is disconnected
It opens, main screw 9 is unloaded not to work, and engine 3 directly drives 1 rotor of ISG motor, and cutting magnetic induction line produces electricl energy, ISG motor
1, which is used as generator to pass through built-in rectifier, is the charging of power battery 7, is four auxiliary motors 4 on wing 8 by power battery 7
Electric energy is provided, 4 small propellers 5 is driven to provide power for unmanned plane.Engine 3 can be near the highest revolving speed of efficiency at this time
Work, improves the economy of unmanned plane.
Specifically, as shown in Figure 5, the control process under the power generation cascade mode of the unmanned plane includes:
Flight control system 12 first passes through the starting control process for executing engine 3, starts engine 3；Connect electromagnetic clutch
2-1 disconnects electromagnetic clutch 2-2；Control engine 3 directly drives 1 rotor of ISG motor；By the rectifier in ISG motor 1,
It is direct current by generated AC conversion, charges for power battery 7；Wherein, main screw 9 is unloaded does not work, ISG motor
1 conduct generator is the charging of power battery 7；It is that the respective stand-by motor 4 of small propeller 5 provides electric current by power battery 7.
For example, as shown in Figure 8, system for flight control computer 12 receives power battery SOC signal 21, unmanned plane height
Signal, unmanned plane during flying speed signal 15 etc., when judging that SOC value is lower, the operating condition according to locating for unmanned plane starts power generation cascade
In the mode flat winged stage, starts start-up mode to start engine at this point, master control system will first pass through, then connect electromagnetic clutch 2-
1, disconnect electromagnetic clutch 2-2.Flight control system 12 inputs control of engine speed signal 18 to engine according to engine characteristics
Under this ideal velocity, engine is in highest working efficiency.By engine driving ISG rotor, by being rectified in ISG motor
Resulting AC conversion is direct current by device, is power battery charging.Flight control system 12 is according to unmanned plane altitude signal lamp meter
The small propeller revolving speed for keeping flat winged state is calculated, is stand-by motor power supply by power battery.Stand-by motor uses inner and outer ring
Control method, inner ring use Current Feedback Control, and outer ring uses stand-by motor revolving speed PID control；Engine uses PID control,
Actual speed is compared with ideal velocity, engine is enabled efficiently to provide electric energy for power battery.
Optionally, wherein as shown in Figure 4, the control process under the pure power mode of the unmanned plane includes:
Flight control system 12 determines the velocity of rotation of 4 small propellers, and by electromagnetic clutch 2-1 and electromagnetic clutch 2-2
It is in an off state, engine 3 is also at shutdown status；It is that the respective stand-by motor 4 of small propeller 5 mentions by power battery 7
For electric current.
Specifically, only providing power by power battery 7 under pure power mode for unmanned plane, it is suitable for the flat winged rank of unmanned plane
Section and fall-retarding stage, it can reduce unmanned plane overall noise, improve the economy of unmanned plane.The pure electric propulsion mode
Power only is provided by 4 small propellers 5, is by power battery 7 in unmanned plane flat winged stage and fall-retarding stage, unmanned plane
4 stand-by motors 4 on wing 8 provide electric energy, meanwhile, engine 3 is shut down, and electromagnetic clutch 2-1, electromagnetic clutch 2-2 are disconnected
Electrically separated, main screw 9 is unloaded not to work.
For example, as shown in Figure 9, when the unmanned plane is by 4 small propellers in flat winged, the fall-retarding stage
Unmanned plane provides power.System for flight control computer 12 receives flat winged/fall-retarding signal, power battery SOC signal 21, unmanned plane
Altitude signal, unmanned plane during flying speed signal 15 etc., so that it is determined that the velocity of rotation of 4 small propellers.At this point, electromagnetic clutch
2-1 is in an off state with 2-2, and engine is also at shutdown status.Stand-by motor electric current 25 is controlled signal by flight control system 12
24 pass to power battery.Power battery provides electric current to stand-by motor, in order to realize quick control and the flight shape of revolving speed
The stability of state, using inner and outer ring control method, inner ring uses current follow-up control, and outer ring uses robust control, to assist electricity
The revolving speed of machine is input, is output object with the acceleration of the flying height of aircraft, flight, at this time the anti-external interference of unmanned plane
Ability is obviously improved.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for equipment reality
For applying example, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to embodiment of the method
Part explanation.The above description is merely a specific embodiment, but protection scope of the present invention is not limited to
This, anyone skilled in the art in the technical scope disclosed by the present invention, the variation that can readily occur in or replaces
It changes, should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claim
Subject to enclosing.
Claims (10)
1. a kind of hybrid power unmanned plane for promoting mode, which is characterized in that the component part of the unmanned plane includes at least more:
Fuselage (6), wing (8), tail supporting rod (10) and empennage (11) are equipped with ISG motor (1), electromagnetic clutch in middle fuselage (6)
(2), engine (3), stand-by motor (4), small propeller (5), power battery (7) and main screw (9)；
Fuselage (6) connects wing (8), tail supporting rod (10) and empennage (11), and the spoiler on wing (8) and empennage (11) is used for
The flight attitude of the unmanned plane is regulated and controled；
Four several small propellers (5) and stand-by motor (4) are distributed in wing (8) two sides, and main screw (9) is mounted on fuselage (6)
Tail portion；
Place engine (3), ISG motor (1) and power battery (7) in the middle section of fuselage (6)；
Wherein, one end of ISG motor (1) passes through the first clutch part (2-1) of electromagnetic clutch (2) and the song of engine (3)
Axis output end is attached, when the first clutch part (2-1), which is closed, to be connected, rotor and engine (3) of ISG motor (1)
Crankshaft output end connection；
The other end of ISG motor (1) is carried out by the second clutch part (2-2) of electromagnetic clutch (2) and main screw (9)
Connection, when the second clutch part (2-2), which is closed, to be connected, ISG motor (1) rotor is connect with main screw (9)；
Power battery (7) is connect with stand-by motor (4) and ISG motor (1) respectively, and power battery (7) is used to be stand-by motor (4)
Electric energy is provided, and small propeller (5) is driven to provide power for the unmanned plane；
Power battery (7) is connect with ISG motor (1), wherein ISG motor when power battery (7) is in working condition as motor
(1) electric energy is provided, alternatively, power battery (7) receives the electric energy that the ISG motor (1) when working condition is generator issues and deposits
Storage.
2. hybrid power unmanned plane according to claim 1, which is characterized in that ISG motor (1) is shut down in engine (3)
Shi Zuowei starts motor, wherein electromagnetic clutch (2-1) closure, electromagnetic clutch (2-2) disconnect, and power battery (7) is directly
The rotor of ISG motor (1) is powered, and drives the crank rotation of engine (3) to start engine by the rotor of ISG motor (1)
(3)。
3. hybrid power unmanned plane according to claim 2, which is characterized in that when engine (3) work, ISG motor
(1) it remains idle；
Engine (3) transmits power by ISG motor (1) connection main screw (9), and for main screw (9).
4. hybrid power unmanned plane according to claim 3, which is characterized in that when engine (3) work, ISG motor
(1) it is connected with power battery (7), and provides power together with engine (3) for main screw (9).
5. hybrid power unmanned plane according to claim 3, which is characterized in that low in the remaining capacity of power battery (7)
When pre-determined threshold, closed electromagnetic clutch (2-1) and disconnection electromagnetic clutch (2-2).
6. hybrid power unmanned plane according to claim 2, which is characterized in that the starting control process packet of engine (3)
It includes:
Flight control system judges that can power battery (7) have enough electric energy startings engine (3)；
If so, controlling signal 1 to electromagnetic clutch (2-1) output electromagnetic clutch, it is closed electromagnetic clutch (2-1), and
Signal 2 is controlled to electromagnetic clutch (2-2) output electromagnetic clutch, disconnects electromagnetic clutch (2-2)；
According to the flying height signal and flying speed signal of the unmanned plane, determine that engine (3) start revolving speed；
The revolving speed of ISG motor (1) is determined according to the starting revolving speed, wherein the revolving speed of ISG motor (1) and the starting revolving speed
It is identical；
Current controling signal is transmitted to power battery (7), is that ISG motor (1) provides power-assisted by power battery (7).
7. hybrid power unmanned plane according to claim 3, which is characterized in that the unmanned plane is joining hybrid propulsion mould
The control process in the take-off climb stage under formula includes:
Flight control system determines the revolving speed of main screw (9) (main screw is connected with engine at this time, and V1 is engine speed)
With the revolving speed of 4 small propellers (5)；
It is that small propeller (5) respective stand-by motor (4) provides electric current by power battery (7)；
Wherein, after engine (3) starting, ISG motor (1) power-off is dallied, electromagnetic clutch (2-1) and electromagnetic clutch (2-
2) be powered closure；At this point, the crankshaft output end of engine (3), ISG motor (1) rotor and main screw (9) are connected with each other, hair
Motivation (3) directly drives main screw (9) and generates power；Meanwhile power battery (7) is wing (8) upper 4 stand-by motors (4)
Electric energy is provided, 4 small propellers (5) is driven to provide power for the unmanned plane.
8. hybrid power unmanned plane according to claim 4, which is characterized in that the unmanned plane is joining hybrid propulsion mould
The control process of high-altitude full load ramp-up period under formula includes:
Flight control system sends speed controling signal to engine (3)；
And stand-by motor current controling signal is sent to power battery (7), triggering power battery (7) is ISG motor (1) output electricity
Energy；
Wherein, the unmanned plane provides power by 4 small propellers (5) and main screw (9) jointly；At this point, power battery (7)
Electric energy is provided for ISG motor (1), ISG motor (1) and engine (3) drive main screw (9) jointly.
9. hybrid power unmanned plane according to claim 6, which is characterized in that under the power generation cascade mode of the unmanned plane
Control process include:
Flight control system first passes through the starting control process for executing engine (3), starts engine (3)；
It connects electromagnetic clutch (2-1), disconnects electromagnetic clutch (2-2)；
Control engine (3) directly drives ISG motor (1) rotor；
By the rectifier in ISG motor (1), it is direct current by generated AC conversion, charges for power battery (7)；
Wherein, main screw (9) is unloaded does not work, and ISG motor (1) is power battery (7) charging as generator；Pass through power
Battery (7) is that small propeller (5) respective stand-by motor (4) provides electric current.
10. hybrid power unmanned plane according to claim 5, which is characterized in that under the pure power mode of the unmanned plane
Control process includes:
Flight control system determines the velocity of rotation of 4 small propellers, and will be at electromagnetic clutch (2-1) and electromagnetic clutch (2-2)
In off-state, engine (3) is also at shutdown status；
It is that small propeller (5) respective stand-by motor (4) provides electric current by power battery (7).
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