CN111409836A - Power generation rectification control method for aviation hybrid power system of multi-rotor unmanned aerial vehicle - Google Patents
Power generation rectification control method for aviation hybrid power system of multi-rotor unmanned aerial vehicle Download PDFInfo
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- 238000010248 power generation Methods 0.000 title claims abstract description 11
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- 238000002474 experimental method Methods 0.000 claims description 4
- 238000013528 artificial neural network Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 210000001258 synovial membrane Anatomy 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 2
- 239000000446 fuel Substances 0.000 abstract description 3
- 229910044991 metal oxide Inorganic materials 0.000 abstract 1
- 150000004706 metal oxides Chemical class 0.000 abstract 1
- 239000004065 semiconductor Substances 0.000 abstract 1
- 239000000295 fuel oil Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/026—Aircraft characterised by the type or position of power plants comprising different types of power plants, e.g. combination of a piston engine and a gas-turbine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/11—Propulsion using internal combustion piston engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
- F02D31/002—Electric control of rotation speed controlling air supply
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
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- Control Of Eletrric Generators (AREA)
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Abstract
The invention discloses a power generation rectification control method of an aviation hybrid power system for a multi-rotor unmanned aerial vehicle, which comprises a hybrid power system, a hybrid rectifier, a controller, a standby battery and the multi-rotor unmanned aerial vehicle, wherein the hybrid rectifier comprises two groups of common cathodes and common anodes and a power MOS (metal oxide semiconductor) tube which are connected in parallel, each group of the rectifier diodes is provided with one rectifier diode which is connected with a permanent magnet generator in a three-phase manner, the controller controls the power MOS tube to be disconnected to form an active rectification circuit and a passive rectification circuit, the multi-rotor unmanned aerial vehicle is provided with an engine, the engine is provided with a steering engine connecting rod mechanism and a steering engine and comprises a throttle valve and a rocker arm, and the passive rectification method is; under a high-power working condition, the boost constant-voltage control is realized by adopting a non-inductive active rectification algorithm, the battery drive and the fuel drive are integrated, the control is simple, and the goals of boost, constant-voltage control and long flight time and large load of the unmanned aerial vehicle are realized.
Description
Technical Field
The invention relates to the technical field of generators and hybrid power, in particular to a power generation rectification control method for an aviation hybrid power system of a multi-rotor unmanned aerial vehicle.
Background
Many rotor unmanned aerial vehicle can realize VTOL, hover etc. mobility, flexibility are good, simple structure, control are simple, and market acceptance is high, and extensive be used for military and agricultural fields such as agriculture and forestry plant protection, electric power patrol and examine, military reconnaissance, the development potential is huge, has very bright market prospect.
At present, a multi-rotor unmanned aerial vehicle generally adopts a power battery power supply mode, the flight time is short, the load is small, the battery capacity is reduced in winter or in a high-altitude low-temperature environment, and the flight time is obviously shortened; the fuel oil driven unmanned aerial vehicle has strong power, long endurance and heavy load, but the fuel oil engine has obvious nonlinear characteristics, complex speed regulation, slow response speed and difficult control, and the fuel oil drive needs a transmission speed change mechanism with complex structure and large volume, so the power-to-weight ratio is reduced; the engine rotating speed is controlled by adjusting the throttle valve through the steering engine connecting rod, when the throttle valve reaches the maximum opening degree, the load on the direct current side is continuously increased, the rotating speed is reduced, the output voltage is reduced, constant voltage output cannot be realized, and the power consumption requirement of the unmanned aerial vehicle cannot be met.
Disclosure of Invention
In order to solve the problems, the invention provides a power generation rectification control method for an aviation hybrid power system of a multi-rotor unmanned aerial vehicle, which integrates the characteristics of power battery driving and fuel driving, adopts a mode of combining active rectification and passive rectification, and realizes constant voltage output in variable load through a power generation rectification control method combining an engine rotating speed control method and an active and passive rectification control method.
The technical scheme adopted by the invention is as follows:
an aviation hybrid power system for a multi-rotor unmanned aerial vehicle comprises a hybrid power system, a hybrid rectifier, a controller, a standby battery and the multi-rotor unmanned aerial vehicle;
the hybrid power system comprises a two-stroke gasoline engine and a permanent magnet generator which are mechanically connected coaxially, wherein: the permanent magnet generator is provided with a rotor, the permanent magnet generator, the controller, the standby battery and the multi-rotor unmanned aerial vehicle are all electrically connected with the hybrid rectifier, and the standby battery supplies power to the multi-rotor unmanned aerial vehicle;
the hybrid rectifier comprises a three-phase half-bridge rectifier formed by rectifier diodes and power MOS tubes which are equal in number and connected in parallel, the three-phase half-bridge rectifier is divided into two groups of a common cathode and a common anode and is connected with the permanent magnet generator in a three-phase mode, and only two rectifier diodes are ensured to be conducted at any time, so that current flows through a load from a phase with the highest potential and flows back to a phase with the lowest potential;
the controller control power MOS pipe is disconnected and is formed with initiative rectifier circuit and passive rectifier circuit, be equipped with the engine on the many rotor unmanned aerial vehicle, be equipped with steering wheel link mechanism and steering wheel on the engine, steering wheel link mechanism includes throttle valve and rocking arm control throttle opening degree, the rocking arm is located on the steering wheel, the throttle valve is located on the engine, steering wheel link mechanism connects the controller, be equipped with the switch on the controller.
Preferably, the number of the rectifier diodes and the number of the power MOS tubes are six, and each phase of the permanent magnet generator is respectively connected with two rectifier diodes and two power MOS tubes.
Preferably, the rectifier diode adopts a larger power rectifier diode to replace a freewheeling diode, and integrates passive rectification and active rectification functions.
Preferably, the power generation rectification control method for the aviation hybrid power system of the multi-rotor unmanned aerial vehicle comprises the following steps:
firstly, initializing a system, enabling a steering engine to return, and adjusting a throttle valve on an engine to an idle speed position;
step two, judging the on-off state of the controller, ending the process when the controller is in the off state, reading the voltage and current values of the direct current side of the hybrid rectifier when the controller is in the on state, calculating the power of the direct current side, and continuing the step three;
setting a power threshold value through multiple experiments, when the power value is smaller than the power threshold value, outputting three control signals by the controller, adjusting the high-side three-phase power MOS tubes to be in a turn-off state to form a passive rectification circuit, and controlling the rotating speed of the engine through the opening degree of a throttle valve to realize constant-voltage output;
when the rocker arm reaches the maximum position, namely the throttle valve reaches the maximum opening, according to the external characteristics of the engine, along with the increase of the load, the rotating speed is reduced, the voltage after passive rectification is reduced, and the power consumption requirement of the multi-rotor unmanned aerial vehicle cannot be met;
and step five, when the load on the direct current side is reduced to be below a power threshold value, switching the three power MOS tubes on the high side of the three-phase rectifier bridge to be in a turn-off state, switching to a passive rectification method in the step three, controlling the rotating speed of the engine through a throttle valve to realize constant-voltage output, judging the power value, and circulating the step three and the step four.
Preferably, in the third step, the method for adjusting the opening degree of the throttle valve by the passive rectification circuit comprises: calculating the common working voltage range of the multi-rotor unmanned aerial vehicle, reading bus voltage, and controlling a rocker arm by a controller through a steering engine connecting rod mechanism when the bus voltage is lower than the lower limit voltage, so that the opening of a throttle valve is increased, and the rotating speed of an engine is increased; when the bus voltage is higher than the upper limit voltage, the controller controls the rocker arm, the opening of a throttle valve is reduced, and the rotating speed of the engine is reduced; when the bus voltage is in the common voltage range, the controller controls the position of the throttle valve through the rocker arm to maintain the rotating speed of the engine.
Preferably, the non-inductive active rectification algorithm comprises a fuzzy control algorithm, an artificial neural network, a synovial membrane observer, a Kalman filter observer and the like, the position and the rotating speed of the rotor are accurately observed, and the switching critical point of active rectification and passive rectification is increased.
The invention has the beneficial effects that:
1. the active rectification and the passive rectification are combined, the engine control and the non-inductive active rectification control are integrated, the rotating speed of the engine is controlled during the passive rectification to realize constant-voltage output, a non-inductive rectification algorithm is adopted during the active rectification to realize boosting and constant-voltage control, practical experience is combined, multiple experiments are carried out, the control is simple, and the reliability is high;
2. adopt light efficient aviation hybrid power system solution, integrated power battery drive and fuel oil driven advantage improves unmanned aerial vehicle time of flight and load, and control is simple, and the replaceability is strong.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a hybrid rectifier of the present invention;
fig. 3 is a flow chart of a control method of the present invention.
Labeled as: 1. the hybrid power system comprises 11 parts of a two-stroke gasoline engine, 12 parts of a permanent magnet generator, 2 parts of a hybrid rectifier, 21 parts of a common cathode, 22 parts of a common anode, 3 parts of a standby battery, 4 parts of a controller and 5 parts of a multi-rotor unmanned aerial vehicle.
Detailed Description
As shown in fig. 1, an aviation hybrid power system for a multi-rotor unmanned aerial vehicle comprises a hybrid power system 1, a hybrid rectifier 2, a controller 4, a backup battery 3 and a multi-rotor unmanned aerial vehicle 5;
the hybrid system 1 includes a two-stroke gasoline engine 11 and a permanent magnet generator 12 that are mechanically connected coaxially, wherein: a rotor is arranged on the permanent magnet generator 12, the controller 4, the standby battery 3 and the multi-rotor unmanned aerial vehicle 5 are electrically connected with the hybrid rectifier 2, and the standby battery 3 supplies power to the multi-rotor unmanned aerial vehicle 5;
the hybrid rectifier 2 comprises six rectifier diodes and power MOS tubes which are connected in parallel to form a three-phase half-bridge rectifier, the three-phase half-bridge rectifier is divided into two groups of common cathodes 21 and common anodes 22 which are connected with the permanent magnet generator 12 in three phases, as shown in FIG. 2, V1 to V6 are rectifier diodes, S1 to S6 are power MOS tubes, V1, V3 and V5 are connected with the common cathodes 21, V2, V4 and V6 are connected with the common anodes 22, V1 and V2, V3 and V4, V5 and V6 are respectively electrically connected into three phases which are connected with the permanent magnet generator 12 in three phases, S1 to S6 are respectively matched and connected in parallel with two ends of V1 to V6 with the same serial number, so that only two rectifier diodes are conducted at any time, current flows from a phase with the highest potential to a phase with the lowest potential through a load flow, the rectifier diodes adopt larger power rectifier diodes to replace freewheeling diodes, and integrate passive rectification and active rectification functions, the controller 4 controls the power MOS tube to be switched on and switched off to form an active rectifying circuit and a passive rectifying circuit;
be equipped with the engine on many rotor unmanned aerial vehicle 5, be equipped with steering wheel link mechanism and steering wheel on the engine, steering wheel link mechanism includes air throttle and rocking arm control air throttle opening degree, and on the steering wheel was located to the rocking arm, on the engine was located to the air throttle, steering wheel link mechanism connection director 4 was equipped with the switch on the controller 4.
Specifically, as shown in fig. 1 to 3, a power generation rectification control method for an aviation hybrid power system of a multi-rotor unmanned aerial vehicle includes the following steps:
firstly, initializing a system, enabling a steering engine to return, and adjusting a throttle valve on an engine to an idle speed position;
step two, judging the switching state of the controller 4, ending the process when the controller is in the off state, reading the voltage and current values of the direct current side of the hybrid rectifier 2 when the controller is in the on state, calculating the power of the direct current side, and continuing the step three;
step three, the working power supply of the multi-rotor unmanned aerial vehicle 5 matched with the hybrid power system 1 is a 12s lithium battery, and the voltage is controlled within a certain range without causing system oscillation due to the fact that an engine is correspondingly slow, and the voltage range 48V to 49V where the multi-rotor unmanned aerial vehicle 5 works most frequently is selected; when the bus voltage is higher, the rotating speed is increased, namely the output power is increased, through a plurality of experiments, the rotating speed and the power of the two-stroke gasoline engine 11 and the permanent magnet generator 12 are matched, the maximum power which can be output is 1.6kW when the bus voltage threshold is 48V is obtained, and the maximum power is used as the power threshold;
when the power value is less than 1.6kW, the controller 4 outputs three paths of control signals, and adjusts the high-side three-phase power MOS tubes to be in a turn-off state, so as to form a passive rectification circuit, and controls the rotating speed of the engine through the opening degree of a throttle valve to realize constant-voltage output, wherein the specific method comprises the following steps: the method for adjusting the opening degree of the throttle valve by the passive rectification circuit comprises the following steps: calculating the common working voltage range of the multi-rotor unmanned aerial vehicle 5, reading the bus voltage, and controlling the rocker arm by the controller 4 through the steering engine connecting rod mechanism when the bus voltage is lower than 48V, so as to increase the opening degree of a throttle valve and improve the rotating speed of an engine; when the bus voltage is higher than 49V, the controller 4 controls the rocker arm to reduce the opening of the throttle valve and reduce the rotating speed of the engine; when the bus voltage is in the range of 48V to 49V, the controller 4 controls the position of the throttle valve through the rocker arm to maintain the rotating speed of the engine;
step four, when the rocker arm reaches the maximum position, namely the throttle valve reaches the maximum opening, according to the external characteristics of the engine, along with the increase of the load, the rotating speed is reduced, the voltage after passive rectification is reduced, and the power consumption requirement of the multi-rotor unmanned aerial vehicle 5 cannot be met, when the load power at the direct current side is more than 1.6kW and the bus voltage is lower than 48V, the controller 4 switches a non-inductive active rectification algorithm, a rectifier diode is used as a freewheeling diode to provide a release loop, the reactive power generated during active rectification control is buffered, the high voltage is suppressed, the circuit safety is ensured, the non-inductive active rectification algorithm adopts a space vector algorithm, a back electromotive force observer is established through phase voltage current, a rotating magnetic field is formed by observing the position and the rotating speed of the rotor; the non-inductive active rectification algorithm also comprises a fuzzy control algorithm, an artificial neural network, a synovial membrane observer, a Kalman filtering observer and the like, the position and the rotating speed of the rotor are accurately observed, and the switching critical point of active rectification and passive rectification is improved;
and step five, when the load on the direct current side is reduced to be lower than 1.6kW, switching the three power MOS tubes on the high side of the three-phase rectifier bridge to be in a turn-off state, switching to a passive rectification method in step three, controlling the rotating speed of the engine through a throttle valve to realize constant-voltage output, judging the power value, and circulating the step three and the step four.
The invention has the advantages that: simple structure, integrated power battery drive and fuel drive increase unmanned aerial vehicle time of flight and load, combine initiative rectification and passive rectification, realize the constant voltage output through control rotational speed.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides an aviation hybrid power system for having more rotor unmanned aerial vehicle which characterized in that: the system comprises a hybrid power system, a hybrid rectifier, a controller, a standby battery and a multi-rotor unmanned aerial vehicle;
the hybrid power system comprises a two-stroke gasoline engine and a permanent magnet generator which are mechanically connected coaxially, wherein: the permanent magnet generator is provided with a rotor, and the permanent magnet generator, the controller, the standby battery and the multi-rotor unmanned aerial vehicle are electrically connected with the hybrid rectifier;
the hybrid rectifier comprises a three-phase half-bridge rectifier formed by rectifier diodes and power MOS tubes which are equal in number and connected in parallel, the three-phase half-bridge rectifier is divided into two groups of a common cathode and a common anode and is connected with the permanent magnet generator in a three-phase manner;
the controller control power MOS pipe is disconnected and is formed with initiative rectifier circuit and passive rectifier circuit, be equipped with the engine on the many rotor unmanned aerial vehicle, be equipped with steering wheel link mechanism and steering wheel on the engine, steering wheel link mechanism includes throttle valve and rocking arm control throttle opening degree, the rocking arm is located on the steering wheel, the throttle valve is located on the engine, steering wheel link mechanism connects the controller, be equipped with the switch on the controller.
2. The aero hybrid system for multi-rotor drones according to claim 1, wherein: the number of the rectifier diodes and the number of the power MOS tubes are six, and each phase of the permanent magnet generator is respectively connected with two rectifier diodes and two power MOS tubes.
3. The aero hybrid system for multi-rotor drones according to claim 2, wherein: the rectifier diode adopts a rectifier diode with larger power.
4. A power generation rectification control method using the aero hybrid system for a multi-rotor drone of claim 1, characterized in that: the method comprises the following steps:
firstly, initializing a system, enabling a steering engine to return, and adjusting a throttle valve on an engine to an idle speed position;
step two, judging the on-off state of the controller, ending the process when the controller is in the off state, reading the voltage and current values of the direct current side of the hybrid rectifier when the controller is in the on state, calculating the power of the direct current side, and continuing the step three;
setting a power threshold value through multiple experiments, when the power value is smaller than the power threshold value, outputting three control signals by the controller, adjusting the high-side three-phase power MOS tubes to be in a turn-off state to form a passive rectification circuit, and controlling the rotating speed of the engine through the opening degree of a throttle valve to realize constant-voltage output;
when the power is larger than a power threshold value and the rocker arm reaches the maximum position, namely the throttle valve reaches the maximum opening, the controller switches an inductionless active rectification algorithm, a counter-potential observer is established through phase voltage current, a rotating magnetic field is formed by observing the position and the rotating speed of a rotor on the permanent magnet generator, and the voltage boosting and constant voltage control is realized;
and step five, entering the next cycle, judging the power value, and continuing the step three and the step four.
5. The power generation rectification control method for the aero hybrid system for multi-rotor unmanned aerial vehicle according to claim 4, wherein: in the third step, the method for adjusting the opening degree of the throttle valve by the passive rectification circuit comprises the following steps: calculating the common working voltage range of the multi-rotor unmanned aerial vehicle, reading bus voltage, and controlling a rocker arm by a controller through a steering engine connecting rod mechanism when the bus voltage is lower than the lower limit voltage, so that the opening of a throttle valve is increased, and the rotating speed of an engine is increased; when the bus voltage is higher than the upper limit voltage, the controller controls the rocker arm, the opening of a throttle valve is reduced, and the rotating speed of the engine is reduced; when the bus voltage is in the common voltage range, the controller controls the position of the throttle valve through the rocker arm to maintain the rotating speed of the engine.
6. The power generation rectification control method for the aero hybrid system for multi-rotor unmanned aerial vehicle according to claim 4, wherein: the non-inductive active rectification algorithm comprises a fuzzy control algorithm, an artificial neural network, a synovial membrane observer, a Kalman filtering observer and the like.
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