CN112046763A - Multi-power-source tandem type hybrid unmanned aerial vehicle and control method thereof - Google Patents
Multi-power-source tandem type hybrid unmanned aerial vehicle and control method thereof Download PDFInfo
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- 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
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
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- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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Abstract
The invention discloses a multi-power source tandem type hybrid unmanned aerial vehicle and a control method thereof, wherein the control method comprises the following steps: the system comprises a fuselage, a left wing, a right wing, a left aileron, a right aileron, a left wing flap, a right wing flap, an empennage, a left wing motor, a left wing propeller, a right wing motor, a right wing propeller, a standby propeller module, a horizontal stabilizer, a vertical stabilizer, a lifter, a rudder, an engine, a clutch, an inverter, a power generation/electric all-in-one machine, a storage battery, a super capacitor, an oil tank, a temperature sensor, a pressure sensor, a charge state estimation module and a control module; the invention not only ensures that the unmanned aerial vehicle can have enough cruising ability, but also can ensure the high maneuverability of the unmanned aerial vehicle, meanwhile, the spare propeller module is arranged on the tail wing, when the driving mechanism of the unmanned aerial vehicle breaks down, the spare propeller is driven by the engine to drive the unmanned aerial vehicle, the system is ensured to have a certain redundancy function, and the survival capability of the unmanned aerial vehicle is greatly improved.
Description
Technical Field
The invention belongs to the technical field of aviation aircrafts, and particularly relates to a multi-power-source series-connection hybrid unmanned aerial vehicle with a redundancy function and a control method thereof.
Background
In recent years, the shortage of fossil fuel reserves, global warming and environmental pollution have been increasingly noticed, and since automobiles and airplanes are now indispensable tools for business and military use, both of them generate a large amount of fuel consumption and pollution. Under the condition, the automobile carries out energy revolution in preference to the airplane, the automobile develops towards the directions of energy conservation, low noise, low pollution and the like at present, and a great deal of achievements are obtained, wherein the hybrid power technology is the most mature, the fuel consumption of the automobile is greatly saved on the basis of ensuring the dynamic property of the automobile, and the application of the hybrid power technology to the aviation field is still in a starting stage at present.
Most of the existing hybrid power aircrafts are related researches on unmanned aerial vehicles, for example, the serial hybrid power system is adopted in the serial hybrid power aircraft and the control method thereof with the patent application number of CN201810336908.8 in China, so that the design concept of taking energy conservation and environmental protection as a control strategy is realized, the power of the whole system is taken as a control parameter to switch the whole control strategy in real time, the energy demand distribution condition of the hybrid power system under different working modes and working conditions is improved, the energy consumption is saved, the environmental pollution is reduced, and the energy crisis is relieved; the invention has the patent application number of CN201610218847.6, and provides a novel hybrid power airplane in a distributed hybrid power system based on an aviation piston engine, which is used for combining the advantages of an aviation piston power system and an electric system, not only can meet the requirement of long endurance, but also can ensure the control stability and expand the task range of a small airplane.
In summary, the development of hybrid technologies in the field of aviation is mainly based on the existing hybrid technologies in the field of vehicles, the vehicle hybrid technologies are integrated into the unmanned aerial vehicle, and a novel hybrid unmanned aerial vehicle with the advantages of energy saving, environmental protection, high efficiency and the like is researched, but as for the existing tandem type hybrid unmanned aerial vehicle, because the motor only has one power supply source of the storage battery, and the storage battery is limited by electrochemical reaction rate, the power density is low, when the load power suddenly changes, the energy required by the system cannot be provided in a short time, and the dynamic requirements of the system are difficult to meet, the maneuvering capability of the unmanned aerial vehicle is insufficient, and the unmanned aerial vehicle is difficult to adapt to complex and variable environments, and the existing tandem type hybrid unmanned aerial vehicle only depends on the motor to drive, the engine only generates electricity, when the motor fails or the propeller is knocked down, because unmanned aerial vehicle does not possess redundant function, unmanned aerial vehicle will fall, and unmanned aerial vehicle's viability is relatively poor.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a multi-power-source tandem type hybrid unmanned aerial vehicle and a control method thereof, so as to solve the problems of poor mobility, low viability and the like of the tandem type hybrid unmanned aerial vehicle in the prior art; according to the invention, through setting three power sources of the engine, the storage battery and the super capacitor, the unmanned aerial vehicle can be ensured to have enough cruising ability, and the high maneuverability of the unmanned aerial vehicle can also be ensured.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention discloses a multi-power source tandem type hybrid power unmanned aerial vehicle, which comprises: the system comprises a fuselage, a left wing, a right wing, a left aileron, a right aileron, a left wing flap, a right wing flap, an empennage, a left wing motor, a left wing propeller, a right wing motor, a right wing propeller, a standby propeller module, a horizontal stabilizer, a vertical stabilizer, a lifter, a rudder, an engine, a clutch, an inverter, a power generation/electric all-in-one machine, a storage battery, a super capacitor, an oil tank, a temperature sensor, a pressure sensor, a charge state estimation module and a control module;
the left wing and the right wing are respectively and fixedly arranged on the left side and the right side of the middle part of the fuselage relative to the nose;
the empennage is fixedly arranged at the tail part of the machine body;
the left wing is provided with a left aileron, a left flap and a left wing propeller;
the right wing is provided with a right aileron, a right flap and a right wing propeller;
the left aileron and the right aileron are used for steering the unmanned aerial vehicle, and the left flap and the right flap are used for lifting the lift force of the unmanned aerial vehicle;
the left wing propeller includes: a left wing propeller A, a left wing propeller B and a left wing propeller C; the right wing propeller includes: a right wing propeller A, a right wing propeller B and a right wing propeller C;
the left wing motor includes: a left wing motor A, a left wing motor B and a left wing motor C; the right wing motor includes: a right wing motor A, a right wing motor B and a right wing motor C; each motor is respectively arranged on the left wing and the right wing, and the power output end of each motor is respectively connected with the left wing propeller A, the left wing propeller B, the left wing propeller C, the right wing propeller A, the right wing propeller B and the right wing propeller C;
the horizontal stabilizer is horizontally fixed on the tail part of the empennage, the left side and the right side of the horizontal stabilizer are both provided with elevators, and the elevators are used for controlling the lifting of the unmanned aerial vehicle;
the vertical stabilizer is vertically fixedly connected with the tail part of the empennage, a rudder is arranged behind the vertical stabilizer, and the rudder is used for controlling the yaw motion of the unmanned aerial vehicle;
the engine is arranged at the tail part of the machine body, and the power output end of the engine is electrically connected with the clutch and the power generation/electric integrated machine respectively;
the backup propeller module includes: the device comprises a standby propeller, a bearing, a standby propeller electromagnetic control switch and a clutch transmission shaft;
the input end of the clutch transmission shaft is connected with the output end of the clutch, and the output end of the clutch transmission shaft is fixedly connected with the standby propeller and used for transmitting the power of an engine;
the bearing is sleeved in the middle of the empennage, and the spare propeller is sleeved on the bearing;
the standby propeller electromagnetic control switch is electrically connected with the control module;
one end of the inverter is electrically connected with the power generation/electric integrated machine, and the other end of the inverter is electrically connected with the storage battery pack and the super capacitor respectively and used for adjusting the output voltage of the storage battery pack and the super capacitor;
the output ends of the storage battery pack and the super capacitor are respectively and electrically connected with the motor and the airborne electric equipment and used for providing a power source for the unmanned aerial vehicle;
the oil tank is connected with the engine through a hydraulic pipeline and is used for supplying oil to the engine;
the input end of the state of charge estimation module is electrically connected with the storage battery pack and the super capacitor, and the output end of the state of charge estimation module is electrically connected with the control module and is used for calculating the SOC values of the storage battery pack and the super capacitor and transmitting the calculated SOC signals to the control module;
the temperature sensor and the pressure sensor are both arranged on the unmanned aerial vehicle body, the temperature sensor is used for detecting the temperature of the environment and transmitting an environment temperature signal to the control module, and the pressure sensor is used for detecting the atmospheric pressure at the position where the unmanned aerial vehicle is located and transmitting an atmospheric pressure signal to the control module;
the control module is respectively and electrically connected with the engine, the clutch, the elevator, the rudder, the left wing motor, the right wing motor, the power generation/electric integrated machine, the standby propeller, the super capacitor, the storage battery pack, the temperature sensor and the pressure sensor and is used for controlling all parts to work according to signals of all the sensors.
Further, the engine is a low-power engine, so that the weight and the arrangement volume of the engine are reduced.
Further, the left wing motor A and the right wing motor A, the left wing motor B and the right wing motor B, and the left wing motor C and the right wing motor C are opposite in steering direction, and are used for offsetting torque generated when the propeller moves to ensure stable operation of the unmanned aerial vehicle.
Further, the bearing is a tapered roller bearing.
Furthermore, the blade structures of the left wing propeller A and the right wing propeller A, the left wing propeller B and the right wing propeller B, and the left wing propeller C and the right wing propeller C are opposite, so that the direction of the output force of the propellers is consistent.
Furthermore, the spare propeller is of a foldable structure, blades of the spare propeller are folded into the tail wing in normal flight, and the spare propeller is controlled to pop up by the spare propeller electromagnetic control switch.
Furthermore, the empennage is designed into a combined structure, and the part of the empennage connected with the fuselage and the other part of the empennage are of a sleeved structure.
Furthermore, the number of the oil tanks is three, namely a left wing oil tank, a right wing oil tank and a lower belly oil tank of the unmanned aerial vehicle body, which are respectively arranged in the left wing, the right wing and the lower belly of the unmanned aerial vehicle body, so that the integral balance performance of the unmanned aerial vehicle is ensured, and the oil carrying capacity is increased.
Furthermore, the storage battery pack and the super capacitor are both arranged at the head of the machine body, wherein the storage battery pack is arranged according to the shape of the head of the machine body.
Furthermore, the connecting part of the clutch transmission shaft and the spare propeller is U-shaped, so that the installation space of the tail wing is ensured, and the strength of the tail wing is improved.
Furthermore, the topological structure of the storage battery pack and the super capacitor is a parallel structure through a power converter, and the storage battery pack and the super capacitor are connected to the bus through the power converter and output through a DC/AC converter.
The invention also provides a control method of the multi-power-source series type hybrid unmanned aerial vehicle, which is based on the system and comprises the following steps:
(1) when the unmanned aerial vehicle flies normally (including flying states such as take-off, cruise and landing), the SOC estimation module estimates the SOC signal of the storage battery pack and transmits the obtained signal to the control module, the control module regulates and controls the running state of an engine according to the SOC signal of the storage battery pack and a set SOC threshold value, all motors are started, and the unmanned aerial vehicle flies normally;
(2) when the load of the unmanned aerial vehicle suddenly rises or falls in the flying process, the control module distributes the power of the super capacitor and the storage battery pack according to the load requirement, the storage battery pack and the super capacitor simultaneously supply power to the motor, and meanwhile, the control module regulates and controls the running state of the engine in real time according to the SOC signal;
(3) when unmanned aerial vehicle's actuating system trouble, control module control reserve screw electromagnetic control switch opens, and reserve screw pops out, and the simultaneous control clutch is closed, and the reserve screw of engine drive provides flight power for unmanned aerial vehicle this moment, and control module regulates and control the power output of engine according to the motor trouble condition simultaneously.
Further, the SOC estimation method in step (1) adopts a Kalman filter current integration method, and introduces a correlation correction coefficient therein to correct the accumulated error, and the specific steps are as follows:
(1.1) when the unmanned aerial vehicle is started, estimating the SOC of the initial storage battery pack by adopting a Kalman filtering method to obtain the initial state of charge SOC0Selecting state variables of SOC and capacitor voltage U of the battery based on a second-order RC circuit model during estimation1、U2The input variable is terminal current I, the output variable is terminal voltage U, and the discrete state space model and the observation model are as follows:
U(k)＝G(SOC(k))-U1(k)-U2(k)-R0I(k)+nm(k)
in the formula, C1、C2Respectively the polarization capacitance, R, of a second-order RC circuit1、R2Respectively, the polarization resistance value of the second-order RC circuit, Delta T is the sampling time, nm(k) For measuring noise, ρ is charge-discharge efficiency, n1(k)n2(k)n3(k) Respectively representing process noise, and G (SOC (k)) is an OCV-SOC relation function obtained by fitting;
the initial state parameters of the storage battery pack are brought into the discrete state space model and the observation model, and the SOC is obtained after calculation0；
(1.2) calculating the SOC according to the Kalman filtering method0Estimating the SOC of the storage battery pack by adopting a current integration method, wherein a specific estimation formula is as follows:
η＝Ksoc·Kt·Ko·ηc
in the formula, lambda is a discharge multiplying factor correction coefficient; c is discharge rate; eta is the actual coulombic efficiency; etacConverting the Coulomb coefficient under an ideal condition; ksocCorrection coefficients affected by the SOC state; ktIs a correction coefficient influenced by temperature; koIs a correction factor affected by the degree of battery aging.
Further, the SOC threshold in the step (1) is selected to be 0.2 and 0.8, so that the working voltage of the storage battery pack is prevented from generating large fluctuation due to too low electric quantity.
Further, when the unmanned aerial vehicle flies in the step (1), the specific control steps of the motor are as follows:
(1.3) the control module calculates the target rotating speed of each motor according to the output power requirement of each motor;
(1.4) the left wing motor A, the left wing motor B, the left wing motor C, the right wing motor A, the right wing motor B and the right wing motor C are independently controlled, a sliding mode robust controller is adopted, the difference between the target rotating speed and the actual rotating speed of the motors is used as control input, and the output is motor voltage.
Further, the regulation and control of the engine in the step (1) and the step (2) are specifically as follows:
(2.1) when the SOC of the storage battery pack is 0.2, the engine does not work, and the motor set is powered by the storage battery pack and the super capacitor;
(2.2) when the SOC of the storage battery pack is less than 0.2, the control module controls the power generation/electric all-in-one machine to be started, the power generation/electric all-in-one machine rotates to drive the engine to be started, the engine operates in the state of the best working efficiency to charge the storage battery pack, and when the electric quantity of the storage battery pack reaches the SOC of 0.8, the engine stops rotating.
Further, in the step (2), a filtering distribution method is adopted for power distribution of the super capacitor and the storage battery pack, and the specific steps are as follows:
(2.3) extracting a low-frequency part when the load suddenly changes by using a low-pass filter, wherein the low-frequency part is provided by the storage battery pack, the rest part is provided by the super capacitor, and the expression of the adopted first-order low-pass filter is as follows:
wherein, PbOutputting power for the storage battery pack; ploadIs the total power demand; t is a time constant of a first-order low-pass filter;
(2.4) obtaining a low-frequency part when the load suddenly changes according to the first-order low-pass filter in the step (2.3), and obtaining a power distribution coefficient A1 of the storage battery pack, wherein the power distribution coefficient is expressed as:
the power distribution coefficient of the super capacitor obtained from the power distribution coefficient of the storage battery pack is A2-1-A1, and the required output power is Pc＝Pload·A2。
The invention has the beneficial effects that:
the invention is provided with three power sources of the engine, the storage battery and the super capacitor, the engine simultaneously improves energy for the latter two power sources, and when the unmanned aerial vehicle needs high maneuvering flight, the power output characteristic of the unmanned aerial vehicle can be ensured by reasonably distributing the output power of the storage battery and the super capacitor, so that the maneuvering capability of the unmanned aerial vehicle is improved;
according to the invention, the spare propeller module is arranged on the tail wing, when the driving mechanism of the unmanned aerial vehicle breaks down, the spare propeller can be driven by the engine to propel the unmanned aerial vehicle to fly, so that the system has a certain redundancy function, and the survival capability of the unmanned aerial vehicle is greatly improved;
the invention adopts the layout of series hybrid power, and because the engine is only used for power generation under the normal condition, the engine can be selected to be a relatively small model, thereby greatly saving the arrangement space of the unmanned aerial vehicle, further lightening the quality of the unmanned aerial vehicle and further improving the cruising ability of the unmanned aerial vehicle;
the super capacitor and storage battery hybrid energy storage system adopts a parallel connection structure through the power converters, and the output current of the storage battery is limited in a safe and reliable range, so that the power output capability of the system can be greatly improved, and the discharge process of the storage battery is further optimized because the storage battery basically works in a constant current output mode.
Drawings
Fig. 1 is a structural diagram of a series hybrid unmanned aerial vehicle with fault tolerance of the present invention;
FIG. 2 is a cross-sectional view of section A-A of the unmanned aerial vehicle structure of the present invention;
fig. 3 is a structural diagram of the unmanned aerial vehicle of the present invention after starting the backup propeller;
FIG. 4 is a schematic view of the tail assembly of the unmanned aerial vehicle of the present invention;
FIG. 5 is a diagram of a super capacitor and battery pack parallel topology of the present invention;
FIG. 6 is a block diagram of a battery pack SOC estimation of the present invention;
FIG. 7 is a diagram of a second order RC circuit model for SOC estimation according to the present invention;
FIG. 8 is a schematic diagram of a control scheme for the slip film robust controller of the present invention;
FIG. 9 is a block diagram of engine regulation according to the present invention;
in the figure, 1-left wing propeller C, 2-left wing motor C, 3-left wing propeller B, 4-left wing motor B, 5-left wing propeller A, 6-left wing motor A, 7-temperature sensor, 8-storage battery, 9-super capacitor, 10-inverter, 11-pressure sensor, 12-right wing propeller C, 13-right wing motor C, 14-right wing propeller B, 15-right wing motor B, 16-right wing propeller A, 17-right wing motor A, 18-left wing, 19-left aileron, 20-left wing flap, 21-left wing oil tank, 20-fuselage, 21-clutch B, 22-fuselage, 23-control module, 24-power generation/power generation integrated machine 25-clutch, 26-engine, 27-lower belly oil tank of fuselage, 28-state of charge estimation module, 29-right wing oil tank, 30-right flap, 31-right aileron, 32-right wing, 33-spare propeller, 34-empennage, 35-horizontal stabilizer, 36-rudder, 37-vertical stabilizer, 38-spare propeller electromagnetic control switch, 39-elevator, 40-clutch transmission shaft and 41-bearing.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Referring to fig. 1 to 4, the invention relates to a multi-power source series hybrid unmanned aerial vehicle, comprising: fuselage 22, left wing 18 (relative to the nose), right wing 32, left aileron 19, right aileron 31, left flap 20, right flap 30, tail wing 34, left wing motor, left wing propeller, right wing motor, right wing propeller, backup propeller module, horizontal stabilizer 35, vertical stabilizer 37, elevator 39, rudder 36, engine 26, clutch 25, inverter 10, generator/motor combo 24, battery pack 8, super capacitor 9, oil tank, temperature sensor 7, pressure sensor 11, state of charge (SOC) estimation module 28, and control module 23;
the left wing 18 and the right wing 32 are respectively and fixedly arranged on the left side and the right side of the middle part of the fuselage 22 relative to the nose;
the tail wing 34 is fixedly arranged at the tail part of the fuselage 22; the empennage is designed into a combined structure, and the part of the empennage connected with the fuselage and the other part of the empennage are of a sleeved structure.
The left wing 18 is provided with a left aileron 19, a left flap 20 and a left wing propeller;
the right wing 32 is provided with a right aileron 31, a right flap 30 and a right wing propeller;
the left aileron and the right aileron are used for steering the unmanned aerial vehicle, and the left flap and the right flap are used for lifting the lift force of the unmanned aerial vehicle;
the left wing propeller includes: left wing propeller a5, left wing propeller B3, and left wing propeller C1; the right wing propeller includes: right wing propeller a16, right wing propeller B14, and right wing propeller C12; the left wing propeller A and the right wing propeller A, the left wing propeller B and the right wing propeller B, and the left wing propeller C and the right wing propeller C have opposite blade structures, and the direction of the output force of the propellers is consistent.
The left wing motor includes: a left wing motor a5, a left wing motor B4, and a left wing motor C2; the right wing motor includes: a right wing motor a17, a right wing motor B15, and a right wing motor C13; each motor is respectively arranged on the left wing and the right wing, and the power output end of each motor is respectively connected with the left wing propeller A, the left wing propeller B, the left wing propeller C, the right wing propeller A, the right wing propeller B and the right wing propeller C; the left wing motor A and the right wing motor A, the left wing motor B and the right wing motor B, and the left wing motor C and the right wing motor C are opposite in steering direction, and are used for offsetting torque generated when the propeller moves to ensure stable operation of the unmanned aerial vehicle.
The horizontal stabilizer 35 is horizontally fixed on the tail part of the tail wing 34, the left side and the right side of the tail wing are both provided with elevators 39, and the elevators are used for controlling the lifting of the unmanned aerial vehicle;
the vertical stabilizer 37 is vertically fixedly connected with the tail part of the tail wing 34, a rudder 36 is arranged behind the vertical stabilizer, and the yaw motion of the unmanned aerial vehicle is controlled by the rudder;
the engine 26 is mounted at the tail part of the machine body 22, and the power output end of the engine is electrically connected with the clutch 25 and the power generation/electric integration machine 24 respectively; the engine is a low-power engine (the output power is within a range of 50KW-500 KW) so as to reduce the weight and the arrangement volume of the engine.
The backup propeller module includes: a spare propeller 33, a bearing 41, a spare propeller electromagnetic control switch 38 and a clutch transmission shaft 40;
the input end of the clutch transmission shaft 40 is connected with the output end of the clutch 25, and the output end of the clutch transmission shaft is fixedly connected with the standby propeller 33 and used for transmitting the power of the engine; the connection part of the clutch transmission shaft 40 and the spare propeller 33 is U-shaped, so that the installation space of the tail wing is ensured, and the strength of the tail wing is improved.
The bearing 41 is sleeved in the middle of the tail wing 34, and the spare propeller 33 is sleeved on the bearing; the bearing 41 is a tapered roller bearing.
The standby propeller electromagnetic control switch 38 is electrically connected with the control module 23; the spare propeller is of a foldable structure, blades of the spare propeller are folded into the tail wing in normal flight, and the spare propeller is controlled to pop up by the spare propeller electromagnetic control switch.
One end of the inverter 10 is electrically connected with the power generation/electric integration machine 24, and the other end of the inverter is respectively electrically connected with the storage battery pack 8 and the super capacitor 9 and used for adjusting the output voltage of the storage battery pack and the super capacitor;
referring to fig. 5, the output ends of the storage battery pack 8 and the super capacitor 9 are electrically connected with the motor 26 and the onboard electric equipment respectively, and are used for providing a power source for the unmanned aerial vehicle; the storage battery pack and the super capacitor are both arranged at the head of the machine body, wherein the storage battery pack is arranged according to the shape of the head of the machine body. The topological structure of the storage battery pack and the super capacitor is a parallel structure through a power converter (DC/DC), and the storage battery pack and the super capacitor are connected to a bus through the power converter and output through a DC/AC converter.
The oil tank is connected with the engine through a hydraulic pipeline and is used for supplying oil to the engine; the oil tanks are three, namely a left wing oil tank 21, a right wing oil tank 29 and a lower belly oil tank 27 of the unmanned aerial vehicle, and are respectively arranged in the lower belly of the left wing, the right wing and the unmanned aerial vehicle, so that the integral balance performance of the unmanned aerial vehicle is ensured, and the oil carrying capacity is increased.
The input end of the state of charge estimation module 28 is electrically connected with the storage battery pack 8 and the super capacitor 9, and the output end of the state of charge estimation module is electrically connected with the control module 23, and is used for calculating the SOC values of the storage battery pack and the super capacitor and transmitting the calculated SOC signals to the control module 23;
the temperature sensor 7 and the pressure sensor 11 are both arranged on the body 22, the temperature sensor is used for detecting the temperature of the environment and transmitting an environment temperature signal to the control module 23, and the pressure sensor is used for detecting the atmospheric pressure at the position where the unmanned aerial vehicle is located and transmitting an atmospheric pressure signal to the control module 23;
the control module 23 is electrically connected with the engine 26, the clutch 25, the elevator 39, the rudder 36, the left wing motor, the right wing motor, the generator/motor all-in-one machine 24, the backup propeller 33, the super capacitor 9, the storage battery pack 8, the temperature sensor 7 and the pressure sensor 11 respectively, and is used for controlling the work of each component according to signals of each sensor.
The invention also provides a control method of the multi-power-source series type hybrid unmanned aerial vehicle, which is based on the system and comprises the following steps:
(1) when the unmanned aerial vehicle flies normally (including flying states such as take-off, cruise and landing), the SOC estimation module estimates the SOC signal of the storage battery pack and transmits the obtained signal to the control module, the control module regulates and controls the running state of an engine according to the SOC signal of the storage battery pack and a set SOC threshold value, all motors are started, and the unmanned aerial vehicle flies normally;
the SOC estimation method adopts a Kalman filter current integration method, as shown in fig. 6, and introduces a correlation correction coefficient therein to correct the accumulated error, and the specific steps are as follows:
(1.1) when the unmanned aerial vehicle is started, estimating the SOC of the initial storage battery pack by adopting a Kalman filtering method to obtain the initial state of charge SOC0On the second order of the estimated timeRC Circuit model, as shown in FIG. 7, selects the state variables of SOC and the capacitor voltage U of the battery1、U2The input variable is terminal current I, the output variable is terminal voltage U, and the discrete state space model and the observation model are as follows:
U(k)＝G(SOC(k))-U1(k)-U2(k)-R0I(k)+nm(k)
in the formula, C1、C2Respectively the polarization capacitance, R, of a second-order RC circuit1、R2Respectively, the polarization resistance value of the second-order RC circuit, Delta T is the sampling time, nm(k) For measuring noise, ρ is charge-discharge efficiency, n1(k)n2(k)n3(k) Respectively representing process noise, and G (SOC (k)) is an OCV-SOC relation function obtained by fitting;
the initial state parameters of the storage battery pack are brought into the discrete state space model and the observation model, and the SOC is obtained after calculation0；
(1.2) calculating the SOC according to the Kalman filtering method0Estimating the SOC of the storage battery pack by adopting a current integration method, wherein a specific estimation formula is as follows:
η＝Ksoc·Kt·Ko·ηc
in the formula, lambda is a discharge multiplying factor correction coefficient; c is discharge rate; eta is the actual coulombic efficiency; etacConverting the Coulomb coefficient under an ideal condition; ksocCorrection coefficients affected by the SOC state; ktIs a correction coefficient influenced by temperature; koIs a correction factor affected by the degree of battery aging.
The SOC threshold is selected to be 0.2 and 0.8, so that the working voltage of the storage battery pack is prevented from generating large fluctuation due to too low electric quantity.
When the unmanned aerial vehicle flies, the specific control steps of the motor are as follows:
(1.3) the control module calculates the target rotating speed of each motor according to the output power requirement of each motor;
(1.4) the left wing motor A, the left wing motor B, the left wing motor C, the right wing motor A, the right wing motor B and the right wing motor C are independently controlled, a sliding mode robust controller is adopted, as shown in figure 8, the difference between the target rotating speed and the actual rotating speed of the motors is used as control input, and the output is motor voltage.
(2) When the load of the unmanned aerial vehicle suddenly rises or falls in the flying process, the control module distributes the power of the super capacitor and the storage battery pack according to the load requirement, the storage battery pack and the super capacitor simultaneously supply power to the motor, and meanwhile, the control module regulates and controls the running state of the engine in real time according to the SOC signal;
referring to fig. 9, the engine control in step (1) and step (2) is specifically as follows:
(2.1) when the SOC of the storage battery pack is 0.2, the engine does not work, and the motor set is powered by the storage battery pack and the super capacitor;
(2.2) when the SOC of the storage battery pack is less than 0.2, the control module controls the power generation/electric all-in-one machine to be started, the power generation/electric all-in-one machine rotates to drive the engine to be started, the engine operates in the state of the best working efficiency to charge the storage battery pack, and when the electric quantity of the storage battery pack reaches the SOC of 0.8, the engine stops rotating.
The power distribution of the super capacitor and the storage battery pack adopts a filtering distribution method, and the method comprises the following specific steps:
(2.3) extracting a low-frequency part when the load suddenly changes by using a low-pass filter, wherein the low-frequency part is provided by the storage battery pack, the rest part is provided by the super capacitor, and the expression of the adopted first-order low-pass filter is as follows:
wherein, PbOutputting power for the storage battery pack; ploadIs the total power demand; t is a time constant of a first-order low-pass filter;
(2.4) obtaining a low-frequency part when the load suddenly changes according to the first-order low-pass filter in the step (2.3), and obtaining a power distribution coefficient A1 of the storage battery pack, wherein the power distribution coefficient is expressed as:
the power distribution coefficient of the super capacitor obtained from the power distribution coefficient of the storage battery pack is A2-1-A1, and the required output power is Pc＝Pload·A2。
(3) When unmanned aerial vehicle's actuating system trouble, control module control reserve screw electromagnetic control switch opens, and reserve screw pops out, and the simultaneous control clutch is closed, and the reserve screw of engine drive provides flight power for unmanned aerial vehicle this moment, and control module regulates and control the power output of engine according to the motor trouble condition simultaneously.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a serial-type hybrid unmanned aerial vehicle of many power supplies which characterized in that includes: the system comprises a fuselage, a left wing, a right wing, a left aileron, a right aileron, a left wing flap, a right wing flap, an empennage, a left wing motor, a left wing propeller, a right wing motor, a right wing propeller, a standby propeller module, a horizontal stabilizer, a vertical stabilizer, a lifter, a rudder, an engine, a clutch, an inverter, a power generation/electric all-in-one machine, a storage battery, a super capacitor, an oil tank, a temperature sensor, a pressure sensor, a charge state estimation module and a control module;
the left wing and the right wing are respectively and fixedly arranged on the left side and the right side of the middle part of the fuselage relative to the nose;
the empennage is fixedly arranged at the tail part of the machine body;
the left wing is provided with a left aileron, a left flap and a left wing propeller;
the right wing is provided with a right aileron, a right flap and a right wing propeller;
the left aileron and the right aileron are used for steering the unmanned aerial vehicle, and the left flap and the right flap are used for lifting the lift force of the unmanned aerial vehicle;
the left wing propeller includes: a left wing propeller A, a left wing propeller B and a left wing propeller C; the right wing propeller includes: a right wing propeller A, a right wing propeller B and a right wing propeller C;
the left wing motor includes: a left wing motor A, a left wing motor B and a left wing motor C; the right wing motor includes: a right wing motor A, a right wing motor B and a right wing motor C; each motor is respectively arranged on the left wing and the right wing, and the power output end of each motor is respectively connected with the left wing propeller A, the left wing propeller B, the left wing propeller C, the right wing propeller A, the right wing propeller B and the right wing propeller C;
the horizontal stabilizer is horizontally fixed on the tail part of the empennage, the left side and the right side of the horizontal stabilizer are both provided with elevators, and the elevators are used for controlling the lifting of the unmanned aerial vehicle;
the vertical stabilizer is vertically fixedly connected with the tail part of the empennage, a rudder is arranged behind the vertical stabilizer, and the rudder is used for controlling the yaw motion of the unmanned aerial vehicle;
the engine is arranged at the tail part of the machine body, and the power output end of the engine is electrically connected with the clutch and the power generation/electric integrated machine respectively;
the backup propeller module includes: the device comprises a standby propeller, a bearing, a standby propeller electromagnetic control switch and a clutch transmission shaft;
the input end of the clutch transmission shaft is connected with the output end of the clutch, and the output end of the clutch transmission shaft is fixedly connected with the standby propeller and used for transmitting the power of an engine;
the bearing is sleeved in the middle of the empennage, and the spare propeller is sleeved on the bearing;
the standby propeller electromagnetic control switch is electrically connected with the control module;
one end of the inverter is electrically connected with the power generation/electric integrated machine, and the other end of the inverter is electrically connected with the storage battery pack and the super capacitor respectively and used for adjusting the output voltage of the storage battery pack and the super capacitor;
the output ends of the storage battery pack and the super capacitor are respectively and electrically connected with the motor and the airborne electric equipment and used for providing a power source for the unmanned aerial vehicle;
the oil tank is connected with the engine through a hydraulic pipeline and used for supplying oil to the engine;
the input end of the state of charge estimation module is electrically connected with the storage battery pack and the super capacitor, and the output end of the state of charge estimation module is electrically connected with the control module and is used for calculating the SOC values of the storage battery pack and the super capacitor and transmitting the calculated SOC signals to the control module;
the temperature sensor and the pressure sensor are both arranged on the unmanned aerial vehicle body, the temperature sensor is used for detecting the temperature of the environment and transmitting an environment temperature signal to the control module, and the pressure sensor is used for detecting the atmospheric pressure at the position where the unmanned aerial vehicle is located and transmitting an atmospheric pressure signal to the control module;
the control module is respectively and electrically connected with the engine, the clutch, the elevator, the rudder, the left wing motor, the right wing motor, the power generation/electric integrated machine, the standby propeller, the super capacitor, the storage battery pack, the temperature sensor and the pressure sensor and is used for controlling all parts to work according to signals of all the sensors.
2. The multi-power-source series hybrid unmanned aerial vehicle of claim 1, wherein the left and right wing motors A, B and C are each turned in opposite directions.
3. The multi-power-source tandem hybrid unmanned aerial vehicle of claim 1, wherein blades of the left-wing propeller A and the right-wing propeller A, the left-wing propeller B and the right-wing propeller B, and the left-wing propeller C and the right-wing propeller C are of opposite configurations, so that the directions of the output forces of the propellers are consistent.
4. The multi-power-source tandem hybrid unmanned aerial vehicle of claim 1, wherein the backup propeller is of a foldable structure, and its blades are folded into the tail during normal flight, and its ejection is controlled by a backup propeller electromagnetic control switch.
5. The multi-power-source series hybrid unmanned aerial vehicle of claim 1, wherein the clutch drive shaft and backup propeller connection is U-shaped.
6. The multi-power-source series hybrid unmanned aerial vehicle of claim 1, wherein the topological structure of the storage battery pack and the super capacitor is a parallel structure through a power converter, and the storage battery pack and the super capacitor are both connected to a bus through the power converter and output through a DC/AC converter.
7. A control method of a multi-power-source series-connection type hybrid unmanned aerial vehicle is based on any one of the systems of claims 1-6, and is characterized by comprising the following steps:
(1) when the unmanned aerial vehicle flies normally, the SOC estimation module estimates the SOC signal of the storage battery pack and transmits the obtained signal to the control module, the control module regulates and controls the running state of an engine according to the SOC signal of the storage battery pack and a set SOC threshold value, all motors are started, and the unmanned aerial vehicle flies normally;
(2) when the load of the unmanned aerial vehicle suddenly rises or falls in the flying process, the control module distributes the power of the super capacitor and the storage battery pack according to the load requirement, the storage battery pack and the super capacitor simultaneously supply power to the motor, and meanwhile, the control module regulates and controls the running state of the engine in real time according to the SOC signal;
(3) when unmanned aerial vehicle's actuating system trouble, control module control reserve screw electromagnetic control switch opens, and reserve screw pops out, and the simultaneous control clutch is closed, and the reserve screw of engine drive provides flight power for unmanned aerial vehicle this moment, and control module regulates and control the power output of engine according to the motor trouble condition simultaneously.
8. The control method of the multi-power-source series hybrid unmanned aerial vehicle according to claim 7, wherein the SOC estimation method in step (1) adopts a Kalman filter current integration method, and introduces a relevant correction coefficient therein to correct the accumulated error, and comprises the following specific steps:
(1.1) when the unmanned aerial vehicle is started, estimating the SOC of the initial storage battery pack by adopting a Kalman filtering method to obtain the initial state of charge SOC0Selecting state variables of SOC and capacitor voltage U of the battery based on a second-order RC circuit model during estimation1、U2The input variable is terminal current I, the output variable is terminal voltage U, and the discrete state space model and the observation model are as follows:
U(k)＝G(SOC(k))-U1(k)-U2(k)-R0I(k)+nm(k)
in the formula, C1、C2Respectively the polarization capacitance, R, of a second-order RC circuit1、R2Respectively, the polarization resistance value of the second-order RC circuit, Delta T is the sampling time, nm(k) For measuring noise, ρ is charge-discharge efficiency, n1(k)n2(k)n3(k) Respectively representing process noise, and G (SOC (k)) is an OCV-SOC relation function obtained by fitting;
the initial state parameters of the storage battery pack are brought into the discrete state space model and the observation model, and the SOC is obtained after calculation0；
(1.2) calculating the SOC according to the Kalman filtering method0Estimating the SOC of the storage battery pack by adopting a current integration method, wherein a specific estimation formula is as follows:
η＝Ksoc·Kt·Ko·ηc
in the formula, lambda is a discharge multiplying factor correction coefficient; c is discharge rate; eta is the actual coulombic efficiency; etacConverting the Coulomb coefficient under an ideal condition; ksocCorrection coefficients affected by the SOC state; ktIs a correction coefficient influenced by temperature; koIs a correction factor affected by the degree of battery aging.
9. The control method of the series hybrid unmanned aerial vehicle with multiple power sources according to claim 7, wherein in the step (1), when the unmanned aerial vehicle flies, the specific control steps of the motors are as follows:
(1.3) the control module calculates the target rotating speed of each motor according to the output power requirement of each motor;
(1.4) the left wing motor A, the left wing motor B, the left wing motor C, the right wing motor A, the right wing motor B and the right wing motor C are independently controlled, a sliding mode robust controller is adopted, the difference between the target rotating speed and the actual rotating speed of the motors is used as control input, and the output is motor voltage.
10. The control method of the multi-power-source series hybrid unmanned aerial vehicle according to claim 7, wherein in the step (2), the power distribution of the super capacitor and the storage battery pack adopts a filtering distribution method, and the specific steps are as follows:
(2.3) extracting a low-frequency part when the load suddenly changes by using a low-pass filter, wherein the low-frequency part is provided by the storage battery pack, the rest part is provided by the super capacitor, and the expression of the adopted first-order low-pass filter is as follows:
in the formula, PbAs a storage batteryGroup output power; ploadIs the total power demand; t is a time constant of a first-order low-pass filter;
(2.4) obtaining a low-frequency part when the load suddenly changes according to the first-order low-pass filter in the step (2.3), and obtaining a power distribution coefficient A1 of the storage battery pack, wherein the power distribution coefficient is expressed as:
the power distribution coefficient of the super capacitor obtained from the power distribution coefficient of the storage battery pack is A2-1-A1, and the required output power is Pc＝Pload·A2。
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