CN112224423B - Multi-power-source series-parallel hybrid fixed wing aircraft and control method thereof - Google Patents
Multi-power-source series-parallel hybrid fixed wing aircraft and control method thereof Download PDFInfo
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- 239000003990 capacitor Substances 0.000 claims abstract description 104
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- 238000010168 coupling process Methods 0.000 claims abstract description 28
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- 230000006870 function Effects 0.000 claims description 33
- 210000002569 neuron Anatomy 0.000 claims description 24
- 230000005540 biological transmission Effects 0.000 claims description 22
- 238000013528 artificial neural network Methods 0.000 claims description 21
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- 238000003062 neural network model Methods 0.000 claims description 12
- 239000000446 fuel Substances 0.000 claims description 9
- 238000011217 control strategy Methods 0.000 claims description 8
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- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 229910001416 lithium ion Inorganic materials 0.000 description 7
- 238000004146 energy storage Methods 0.000 description 3
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- 230000007613 environmental effect Effects 0.000 description 2
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- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
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- B64D27/026—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control; Arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D2221/00—Electric power distribution systems onboard aircraft
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Abstract
The invention discloses a multi-power-source series-parallel hybrid fixed wing aircraft and a control method thereof, wherein the multi-power-source series-parallel hybrid fixed wing aircraft comprises the following steps: the system comprises a fuselage, a left wing, a right wing, a propeller, a power coupler control unit, a driving motor, a motor shaft, an engine, a power coupling system, an ISG motor, a rectifier, an inverter, a motor controller, a super capacitor, a control module, a photovoltaic power generation system, an oil tank and an empennage; compared with a piston type engine mixed mode, the hybrid mode has the advantages that the weight can be reduced, and the cruising ability of the fixed wing aircraft is further improved; compared with other hybrid power aircrafts, the photovoltaic battery pack adopted by the invention has the characteristics of cleanness, long service life and the like, and cannot cause environmental pollution.
Description
Technical Field
The invention belongs to the technical field of hybrid power airplanes, and particularly relates to a multi-power-source series-parallel hybrid power fixed wing aircraft and a control method thereof.
Background
With the rapid development of world transportation vehicles, people are increasingly demanding more convenient, faster, energy-saving and efficient vehicles. In recent years, Chinese has issued an opinion about deepening the management and the reform of the low-altitude airspace in China, and along with the proposal of relevant policies, the aircraft industry gradually goes into the sight of us as a novel industry along with the progress of scientific technology.
And the single driving system of the traditional piston type aircraft engine increases along with the flying height of the aircraft, the oxygen content in the air is reduced, the temperature is reduced, the pressure of the atmosphere is correspondingly reduced, and the like, so that the operating efficiency of the aircraft engine is continuously reduced, the fuel consumption is increased, and the output power is unstable. This will overwhelm the increasingly depleted fossil energy sources and make the increasingly more severe environmental problems more acute.
At present, research in the hybrid power direction has obtained a certain research result, and can be applied to an airplane to a certain extent, for example, chinese patent application No. CN201810336908.8, entitled "series hybrid aircraft and control method thereof" provides a basis for designing a complete machine control strategy of a series hybrid aircraft by using a pure electric and oil-controlled closed-loop control system, uses power of a complete machine subsystem as a control parameter of the control strategy, switches operating modes of the complete machine control system according to different power requirements of the subsystems under different working conditions of the series hybrid aircraft, realizes a design concept using energy conservation and environmental protection as the control strategy, switches the complete machine control strategy in real time by using power of the complete machine system as the control parameter, improves energy demand distribution conditions of the hybrid system under different operating modes and working conditions, saves energy consumption, reduces environmental pollution, the energy crisis is relieved; the invention has the Chinese patent application number of CN201621062676.4, and provides a fixed wing type hybrid power aircraft which can realize the alternate use of electric energy and fuel oil, has a simple structure, effectively meets various performance indexes of the aircraft, saves energy consumption, reduces the flight cost of the aircraft, and reduces environmental pollution.
In summary, the tandem hybrid aircraft has a low energy utilization rate, and the energy cannot be saved in a real sense by saving one energy source and adding another energy source. The formulation of the PHEV energy management method has two problems: on the one hand, excessive power consumption may result in high electrical losses of the aircraft system, affecting the energy usage efficiency of the complete machine, i.e. requiring more energy to be consumed. On the other hand, the insufficient electricity consumption of the aircraft may not obtain the pre-designed fuel replacement function, and the capacity of the aircraft energy storage system is far from reaching the available limit.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a multi-power-source series-parallel hybrid fixed wing aircraft and a control method thereof, so as to solve the problems of low energy utilization rate and insufficient utilization of the capacity of a storage system in the prior art; according to the invention, the engine, the motor, the photovoltaic battery pack and the super capacitor are mixed, and a set of photovoltaic power generation system is additionally arranged, so that the cruising ability of the aircraft is improved, the service life is prolonged compared with that of a common lithium ion storage battery, the fuel economy and the emission of the aircraft engine are effectively improved, and the performance of the aircraft is comprehensively improved. In addition, the invention combines the torque output by the engine and the torque output by the motor through the power coupler, thereby improving the dynamic property, the economical efficiency and the emission performance of the system.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention discloses a multi-power source series-parallel hybrid fixed wing aircraft, which comprises: the system comprises a fuselage, a left wing, a right wing, a propeller, a power coupler control unit, a driving motor, a motor shaft, an engine, a power coupling system, an ISG motor, a rectifier, an inverter, a motor controller, a super capacitor, a control module, a photovoltaic power generation system, an oil tank and an empennage;
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 ISG motor is positioned at the head of the machine body, and the output end of the ISG motor is electrically connected with the input end of the power coupling system;
the driving motor is positioned at the head of the machine body and is electrically connected with the ISG motor;
the motor controller is positioned in the middle of the machine body and is electrically connected with the inverter to control the starting and stopping of the driving motor, the rotating speed and the torque;
the propeller is fixedly connected with the motor shaft and is arranged at the front end of the machine body;
the power coupling system is positioned at the head of the machine body, is positioned between the driving motor and the propeller, and consists of a gear ring, a planet wheel, a planet carrier, a driving wheel, a transmission shaft and a sun wheel;
the sun wheel is connected with a driving motor;
the planet gear is respectively meshed with the sun gear and the gear ring;
the planet carrier is meshed with the transmission wheel;
the output end of the transmission shaft is connected with the propeller, the input end of the transmission shaft is connected with the output end of the engine, when the aircraft is in work, the engine works alone according to the flight power requirement of the aircraft, and the engine drives the transmission shaft to rotate alone to transmit driving force to the propeller; or the driving motor works independently, and the driving motor transmits driving force to the propeller through the sun wheel, the planet carrier, the driving wheel and the transmission shaft, so that the driving motor drives the propeller to work; or according to the flight power requirement of the aircraft, the engine and the driving motor are controlled to work simultaneously, and the driving force output by the engine is superposed with the driving force output by the driving motor, so that the synthesis of the two kinds of power is realized;
photovoltaic power generation system is located the fuselage, includes: the system comprises an SOC estimation module, a photovoltaic controller and a photovoltaic battery pack;
the input end of the SOC estimation module is electrically connected with the photovoltaic battery pack and the super capacitor, and the output end of the SOC estimation module is electrically connected with the control module and is used for calculating SOC signals of the photovoltaic battery pack and the super capacitor and transmitting the SOC signals to the control module and the photovoltaic controller;
the photovoltaic battery pack is electrically connected with the output end of the rectifier, and the rectifier charges the photovoltaic battery pack with the converted direct current;
the input end of the photovoltaic controller is electrically connected with the output end of the SOC estimation module, and whether the photovoltaic battery pack charges the super capacitor is determined according to the SOC value of the detection capacitor;
the super capacitor is electrically connected with the inverter, and the inverter outputs the converted alternating current to the ISG motor;
the power coupler control unit determines a coupling mode of the power coupling system according to an SOC value of the photovoltaic battery pack, wherein the power coupling system is in a pure electric mode when the SOC value is less than 0.3, the power coupling system is in a series-parallel mode when the SOC value is more than 0.8, and the power coupling system is in a pure fuel mode when the SOC value is between 0.3 and 0.8;
the motor shaft is an output shaft of the driving motor;
the rectifier is positioned in the machine body, the input end of the rectifier is electrically connected with the output end of the generator, and the generated alternating current is converted into direct current;
the inverter is positioned in the machine body, the input end of the inverter is electrically connected with the photovoltaic battery pack and the super capacitor and is used for converting direct current electric energy into alternating current, and the output end of the inverter is electrically connected with the ISG motor;
the control module is positioned in the middle of the machine body, is respectively electrically connected with the engine, the tail wing and the ISG motor, and controls all parts to work according to detected signals;
the oil tank is arranged in the machine body and connected with the engine through a hydraulic pipeline and used for supplying oil to the engine;
the empennage is fixedly arranged at the tail part of the aircraft body and used for controlling the lifting and the yawing motion of the aircraft.
Further, the photovoltaic cell packs are arranged according to the structure of the wings and filled in the left wing and the right wing, so that the masses of the photovoltaic cell packs arranged in the left wing and the right wing are ensured to be balanced with each other, and the center of mass of the aircraft can be located near the geometric center of the fuselage.
Furthermore, the photovoltaic cell groups are six groups, and the left wing and the right wing are respectively provided with three groups.
Furthermore, a battery part in the photovoltaic battery pack is a lithium ion battery, and a solar cell panel is additionally arranged on the battery part to charge the lithium ion battery by a Boost converter.
Further, the energy storage power of the super capacitor is larger than the output power of the ISG motor during power generation.
Further, the maximum discharge power and the maximum charge power of the super capacitor meet the power requirement of the driving motor.
Further, the lithium ion battery in the photovoltaic battery pack meets the peak power generated by the photovoltaic power generation system in the system operation process.
Further, the solar cell panel can still work normally when the wing is slightly deformed.
The invention also provides a control method of the multi-power-source series-parallel hybrid fixed wing aircraft, which comprises the following steps:
(1) when the aircraft normally flies, the SOC estimation module estimates the SOC values of the photovoltaic battery pack and the super capacitor, signals are transmitted to the control module and the photovoltaic power generation system, the SOC threshold values of the photovoltaic battery pack and the super capacitor are set, the control module regulates and controls the running state of the engine in real time according to the SOC signals of the photovoltaic battery and the set SOC threshold values, and electric energy of the driving motor comes from the supply of the photovoltaic battery pack and the super capacitor;
(2) the engine drives the generator to generate electricity, the electric energy generated by the generator is supplied to a driving motor control component for controlling the driving motor to work so as to ensure that the driving motor works, and when the output power of the engine is more than the required power, the generator is driven to generate electricity and store the electric energy in the photovoltaic battery pack; when the output power of the engine is less than the required power, the electric motor absorbs the electric energy and drives the propeller together with the engine; the photovoltaic power generation system determines the charging states of the super capacitor and the photovoltaic battery pack according to the SOC value of the super capacitor and the SOC value of the photovoltaic battery pack;
(3) when the load of the aircraft suddenly rises or falls in the flight process, the control module distributes the power output of the engine and the total output power of the photovoltaic battery pack and the super capacitor according to the load requirement, and then distributes the power of the super capacitor and the photovoltaic battery pack; and the engine, the photovoltaic battery pack and the super capacitor are controlled according to the distribution result, so that the stable output of the power system is ensured.
Further, the photovoltaic cell pack SOC estimation method in the step (1) adopts a neural network method, and specifically includes the following steps:
(11) selecting end current I and end voltage U as the input of a neural network, and selecting the SOC value of the photovoltaic battery pack as the output of the neural network;
(12) collecting charge and discharge data of the photovoltaic battery pack by using a charge and discharge experiment bench of the photovoltaic battery pack, taking 70% of the data as training data, using 15% of the data to check the neural network, using 15% of the data to verify the neural network finally, and training a neural network model;
(13) and when the aircraft is started, inputting the actual state parameters of the photovoltaic battery pack into the neural network model by using the trained neural network model to obtain the SOC value of the photovoltaic battery pack.
Further, in the step (13), the SOC estimation step of the photovoltaic battery pack is as follows:
(131) during estimation, according to an abstract model of a neural network, and with an ith neuron as a core, representing the connection relation among the neurons:
ai(t)＝gi(ai(t-1),neti(t-1))
oi(t)＝fi(ai(t))
in the formula, neti(t) is the input of the ith neuron at time t, i.e., terminal current I, ai(t) is the state of the ith neuron at time t, i.e. the SOC, o of the photovoltaic celli(t) is the output of the ith neuron at time t, i.e., terminal voltage U; giAnd fiRespectively an activation function and an output function associated with the ith neuron, giAnd fiAll independent of i, then:
in the formula, TiIs the threshold value of the ith neuron, namely the threshold value of SOC, and the learning rule of the neuron is the Hebb rule;
(132) and substituting the terminal current I and the terminal voltage U of the photovoltaic battery pack into the neural network model, and calculating to obtain an SOC estimated value of the photovoltaic battery pack.
Further, in the step (1), the SOC estimation of the super capacitor is the same as the SOC estimation of the photovoltaic cell pack, and the estimation is performed by using a neural network method, and the specific estimation steps are the same as the steps (11) to (13).
Further, the SOC threshold of the photovoltaic battery pack in the step (1) is selected to be 0.2 and 0.8, and the SOC threshold of the super capacitor is selected to be 0.3 and 0.8.
Further, when the aircraft flies in the step (1), the specific control steps of the ISG motor are as follows:
(14) the control module calculates a target rotating speed required by the ISG motor according to the requirement;
(15) PID control is adopted, the difference between the target rotating speed and the actual rotating speed of the ISG motor is used as control input, the output is motor voltage, and the expression is as follows:
e(t)＝cr(t)-c(t)
wherein e (t) is an error, c (t) is a true valuer(t) is a desired value;
the control signals are:
the transfer function is of the form:
in the formula, KPIs a proportionality coefficient, TITo integrate the time constant, TDIs the differential time constant.
Further, the engine regulation and control method in the step (1) is as follows:
(16) when the SOC of the photovoltaic battery pack is less than 0.3, the SOC value is increased, the ISG motor is switched to a power generation state, the engine drives the ISG motor to generate power and supplies power to the photovoltaic battery pack together with the solar panel, and when the SOC value of the photovoltaic battery pack climbs to 0.8, the ISG motor is switched to an electric state, and the engine stops rotating;
(17) when the SOC of the photovoltaic battery pack is greater than 0.8, the photovoltaic battery pack exceeds the normal working state, the SOC value is reduced, the engine stops driving the ISG motor to only do power output power generation, the photovoltaic battery pack discharges power to drive the motor to work, and the power coupling system couples and outputs the torque of the engine and the torque provided by the photovoltaic battery pack to the drive motor;
(18) when the SOC of the photovoltaic battery pack is more than or equal to 0.3 and less than or equal to 0.8, the photovoltaic battery pack works in a high-efficiency interval, the engine outputs the fuel efficiency optimal point at the current working rotating speed, or the engine stops running to carry out pure electric flight.
Further, the charging state selection mode of the super capacitor and the photovoltaic battery pack in the step (2) is as follows: when the SOC value of the super capacitor is lower than the set threshold value of 0.3, the photovoltaic controller controls the photovoltaic power generation system to charge the super capacitor; when the SOC value of the super capacitor is higher than the set threshold value of 0.8 and the SOC of the photovoltaic battery pack is lower than 0.8, the photovoltaic controller controls the photovoltaic power generation system to charge the photovoltaic battery pack, and the photovoltaic power generation system does not work in other states, so that the super capacitor is maintained in a normal working state, and the service life of the super capacitor is prolonged.
Further, the distribution of the output power of the engine, the super capacitor and the total output power of the photovoltaic battery pack in the step (3) adopts a Pontryagin minimum value method, the output power of the engine is optimized with the aim of collecting dynamic performance and economy, and the rest is supplied by the super capacitor and the photovoltaic battery pack together.
Further, in the step (3), the power distribution of the super capacitor and the photovoltaic battery pack adopts a fuzzy control strategy of a combined controller, and the specific steps are as follows:
(31) inputting the SOC of the super capacitor and the required power into a first fuzzy controller through a membership function, inputting the SOC of the super capacitor and the SOC of the photovoltaic battery pack into a second fuzzy controller through the membership function, and outputting P by the first fuzzy controllerre-PbatAnd (1-K) output by the second fuzzy controllerbat)PreInput to the bi-directional DC/DC through the combining unit, the expression is as follows:
in the formula IucGiven current, V, for bidirectional DC/DCLiIs the voltage of the photovoltaic cell group, VucIs the terminal voltage of the supercapacitor;
(32) obtaining the power distribution coefficient K of the storage battery according to the calculation of the step (31)batThen obtaining the power distribution coefficient of the super capacitor as Kcap＝1-Kbat。
Further, the membership function adopted in step (31) is a triangular membership function, and the expression thereof is as follows:
in the formula, x is the SOC value of the super capacitor, and [ a, c ] is a domain, so that a membership function graph of the super capacitor is obtained.
Further, the power distribution factor membership function graph and the required power membership function graph of the second fuzzy controller in the step (31) are the same as those of the first fuzzy controller.
The invention has the beneficial effects that:
compared with a piston type engine mixed mode, the hybrid mode has the advantages that the weight can be reduced, and the cruising ability of the fixed wing aircraft is further improved; compared with other hybrid power aircrafts, the photovoltaic battery pack adopted by the invention has the characteristics of cleanness, long service life and the like, and cannot cause environmental pollution.
The invention utilizes the characteristics of the motor driving system as a converter, the high power density of the super capacitor and the high energy density of the lithium battery pack to temporarily store the redundant energy of the aircraft engine into the super capacitor, thereby realizing energy recovery.
The photovoltaic power generation system provided by the invention can continuously generate power in the whole working process, and continuously detects the electric quantity of the super capacitor to perform constant-current charging so as to ensure the flight maneuverability and safety of the fixed-wing aircraft. The electric energy driving motor has the advantages that under the condition that the aircraft engine cannot ignite suddenly in the air due to faults, the electric energy inside the battery and the capacitor can be used as the power of the aircraft, and the safe forced landing of the aircraft is realized.
Drawings
FIG. 1 is a block diagram of a multi-power source hybrid fixed wing aircraft of the present invention;
FIG. 2 is a block diagram of the power coupling system of the present invention;
FIG. 3 is a general control flow diagram of the present invention;
FIG. 4 is a block diagram of the estimation of the SOC of the photovoltaic cell combination super capacitor of the present invention;
FIG. 5 is a schematic diagram of an incremental conductance control strategy for a photovoltaic cell in accordance with the present invention;
FIG. 6 is a system operating schematic of the unified controller of the present invention;
FIG. 7 is a function diagram of the SOC membership degree of the super capacitor in the fuzzy controller 1 according to the present invention
FIG. 8 is a graph of membership function of the photovoltaic cell in the fuzzy controller 1 of the present invention;
FIG. 9 is a graph of the membership function of the demanded power in the fuzzy controller 1 according to the present invention;
FIG. 10 is a graph of the membership function of the power distribution factor in the fuzzy controller 1 of the present invention;
FIG. 11 is a graph of the SOC membership function of the photovoltaic cell in the fuzzy controller 2 of the present invention;
FIG. 12 is a diagram of the SOC membership function of the super capacitor in the fuzzy controller 2 of the present invention;
in the figure, 1-propeller, 2-driving motor, 3-engine, 4-photovoltaic controller, 5-motor controller, 6-super capacitor, 7-left wing, 8-fuselage, 9-empennage, 10-mailbox, 11-SOC estimation module, 12-right wing, 13-photovoltaic battery pack, 14-ECU, 15-rectifier, 16-inverter, 17-ISG motor, 18-power coupling system, 19-power coupling control unit, 20-motor shaft, 21-planetary gear, 22-planetary carrier, 23-sun gear, 24-driving wheel, 25-transmission shaft and 26-gear ring.
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, the multi-power source series-parallel hybrid fixed wing aircraft of the present invention includes: the system comprises a fuselage 8, a left wing 7, a right wing 12, a propeller 1, a power coupler control unit 19, a driving motor 2, a motor shaft 20, an engine 3, a power coupling system 18, an ISG motor 17, a rectifier 15, an inverter 16, a motor controller 5, a super capacitor 6, a control module 14, a photovoltaic power generation system, an oil tank 10 and a tail wing 9;
the left wing 7 and the right wing 12 are respectively and fixedly arranged on the left side and the right side of the middle part of the fuselage 8 relative to the nose;
the ISG motor 17 is positioned at the head of the machine body, and the output end of the ISG motor is electrically connected with the input end of the power coupling system 18;
the driving motor 2 is positioned at the head of the machine body and is electrically connected with the ISG motor 17;
the motor controller 5 is positioned in the middle of the machine body and is electrically connected with the inverter 16 to control the starting and stopping of the driving motor 2, the rotating speed and the torque;
the propeller 1 is fixedly connected with the motor shaft 20 and is arranged at the front end of the machine body 8;
referring to fig. 2, the power coupling system 18 is located at the head of the body and between the driving motor 2 and the propeller 1, and is composed of a gear ring 26, a planet wheel 21, a planet carrier 22, a transmission wheel 24, a transmission shaft 25 and a sun wheel 23;
the sun gear 23 is connected with the driving motor 2;
the planet wheel 21 is respectively meshed with a sun wheel 23 and a gear ring 26;
the planet carrier 22 is meshed with a transmission wheel 24;
the transmission shaft 25 is positioned at the front end of the aircraft body, the output end of the transmission shaft is connected with the propeller 2, the input end of the transmission shaft is connected with the output end of the engine 3, when the aircraft is in work, the engine 3 works alone according to the flight power requirement of the aircraft, and the engine 3 drives the transmission shaft 25 to rotate alone to transmit the driving force to the propeller 2; or the driving motor 2 works independently, and the driving motor 2 transmits driving force to the propeller 1 through the sun gear 23, the planet gear 21, the planet carrier 22, the transmission wheel 24 and the transmission shaft 25, so that the driving motor 2 drives the propeller 1 to work; or according to the flight power requirement of the aircraft, the engine 3 and the driving motor 2 are controlled to work simultaneously, and the driving force output by the engine 3 is superposed with the driving force output by the driving motor 2, so that the synthesis of the two powers is realized;
the photovoltaic power generation system is located inside the fuselage, includes: an SOC estimation module 11, a photovoltaic controller 4 and a photovoltaic battery pack 13;
the input end of the SOC estimation module 11 is electrically connected with the photovoltaic battery pack 13 and the super capacitor 6, and the output end of the SOC estimation module is electrically connected with the control module 14, and is used for calculating SOC signals of the photovoltaic battery pack 13 and the super capacitor 6 and transmitting the SOC signals to the control module 14 and the photovoltaic controller 4;
the photovoltaic battery pack 13 is electrically connected with the output end of the rectifier 15, and the rectifier 15 charges the photovoltaic battery pack 13 with the converted direct current; the photovoltaic cell groups 13 are arranged according to the structure of the wings and are filled in the left wing and the right wing, so that the masses of the photovoltaic cell groups arranged in the left wing and the right wing are ensured to be balanced with each other, and the mass center of the aircraft can be located near the geometric center of the fuselage;
the photovoltaic cell groups are six groups, and the left wing and the right wing are respectively provided with three groups;
the photovoltaic battery pack comprises a battery part, a solar panel and a control module, wherein the battery part in the photovoltaic battery pack is a lithium ion battery, and the solar panel is additionally arranged on the battery part to charge the lithium ion battery by a Boost converter;
the lithium ion battery in the photovoltaic battery pack 13 satisfies the peak power generated by the photovoltaic power generation system in the system operation process.
The input end of the photovoltaic controller 4 is electrically connected with the output end of the SOC estimation module 11, and whether the photovoltaic battery pack 13 charges the super capacitor 6 or not is determined according to the SOC value of the detection capacitor;
the super capacitor 6 is positioned in the middle of the machine body and is electrically connected with the inverter 16, and the inverter 16 outputs the converted alternating current to the ISG motor 17; the energy storage power of the super capacitor 6 is greater than the output power of the ISG motor during power generation; the maximum discharge power and the maximum charge power of the super capacitor meet the power requirement of the driving motor;
the power coupler control unit 19 is positioned at the head of the machine body and determines the coupling mode of the power coupling system 18 according to the SOC value of the photovoltaic battery pack 13, wherein the SOC value is in a pure electric mode when being less than 0.3, the SOC value is in a series-parallel mode when being more than 0.8, and the SOC value is in a pure fuel mode when being between 0.3 and 0.8;
the motor shaft 20 is an output shaft of the driving motor 2;
the rectifier 15 is positioned in the machine body, and the input end of the rectifier is electrically connected with the output end of the generator 3 to convert the generated alternating current into direct current;
the inverter 16 is positioned in the machine body, the input end of the inverter is electrically connected with the photovoltaic battery pack and the super capacitor and is used for converting direct current electric energy into alternating current, and the output end of the inverter is electrically connected with the ISG motor;
the control module 14 is positioned in the middle of the machine body, is respectively electrically connected with the engine 3, the tail wing 9 and the ISG motor 17, and controls all parts to work according to detected signals;
the oil tank 10 is arranged in the machine body 8, and the oil tank 10 is connected with the engine 3 through a hydraulic pipeline and used for supplying oil to the engine 3;
the tail wing 9 is fixedly arranged at the tail part of the machine body 8 and controls the lifting and the yawing motion of the aircraft.
When the wings are slightly deformed, the solar cell panel can still work normally.
As shown in fig. 3, the present invention further provides a control method for a multi-power-source series-parallel hybrid fixed wing aircraft, based on the aircraft, comprising the following steps:
(1) when the aircraft normally flies (including an engine starting stage, an accelerated sliding stage, an accelerated climbing stage, a cruising stage and a landing stage), the SOC estimation module estimates the SOC values of the photovoltaic battery pack and the super capacitor, transmits signals to the control module and the photovoltaic power generation system, sets the SOC threshold values of the photovoltaic battery pack and the super capacitor, the control module regulates and controls the running state of the engine in real time according to the SOC signals of the photovoltaic battery and the set SOC threshold values, and the electric energy of the driving motor is supplied by the photovoltaic battery pack and the super capacitor;
the photovoltaic battery pack SOC estimation method adopts a neural network method, as shown in FIG. 4, avoids errors caused by a Kalman filtering method after a battery model is subjected to linearization processing, and obtains dynamic parameters of a battery in real time, and comprises the following specific steps:
(11) selecting end current I and end voltage U as the input of a neural network, and selecting the SOC value of the photovoltaic battery pack as the output of the neural network;
(12) collecting charge and discharge data of the photovoltaic battery pack by using a charge and discharge experiment bench of the photovoltaic battery pack, taking 70% of the data as training data, using 15% of the data to check the neural network, using 15% of the data to verify the neural network finally, and training a neural network model;
(13) and when the aircraft is started, inputting the actual state parameters of the photovoltaic battery pack into the neural network model by using the trained neural network model to obtain the SOC value of the photovoltaic battery pack.
In the step (13), the SOC estimation step of the photovoltaic battery pack is as follows:
(131) during estimation, according to an abstract model of a neural network, and with an ith neuron as a core, representing the connection relation among the neurons:
ai(t)＝gi(ai(t-1),neti(t-1))
oi(t)＝fi(ai(t))
in the formula, neti(t) is the input of the ith neuron at time t, i.e., terminal current I, ai(t) is the state of the ith neuron at time t, i.e. the SOC, o of the photovoltaic celli(t) is the output of the ith neuron at time t, i.e., terminal voltage U; giAnd fiRespectively an activation function and an output function associated with the ith neuron, giAnd fiAll independent of i, then:
in the formula, TiIs the threshold value of the ith neuron, namely the threshold value of SOC, and the learning rule of the neuron is the Hebb rule;
(132) and substituting the terminal current I and the terminal voltage U of the photovoltaic battery pack into the neural network model, and calculating to obtain an SOC estimated value of the photovoltaic battery pack.
In the step (1), the SOC estimation of the super capacitor is the same as the SOC estimation of the photovoltaic battery pack, and a neural network method is adopted for estimation, and the specific estimation steps are the same as the steps (11) - (13).
The SOC threshold of the photovoltaic battery pack in the step (1) is selected to be 0.2 and 0.8, and the SOC threshold of the super capacitor is selected to be 0.3 and 0.8.
When the aircraft flies in the step (1), the specific control steps of the ISG motor are as follows:
(14) the control module calculates a target rotating speed required by the ISG motor according to the requirement;
(15) PID control is adopted, the difference between the target rotating speed and the actual rotating speed of the ISG motor is used as control input, the output is motor voltage, and the expression is as follows:
e(t)＝cr(t)-c(t)
wherein e (t) is an error, c (t) is a true valuer(t) is a desired value;
the control signals are:
the transfer function is of the form:
in the formula, KPIs a proportionality coefficient, TITo integrate the time constant, TDIs the differential time constant.
The engine regulation and control method in the step (1) is as follows:
(16) when the SOC of the photovoltaic battery pack is less than 0.3, the SOC value is increased, the ISG motor is switched to a power generation state, the engine drives the ISG motor to generate power and supplies power to the photovoltaic battery pack together with the solar panel, and when the SOC value of the photovoltaic battery pack climbs to 0.8, the ISG motor is switched to an electric state, and the engine stops rotating;
(17) when the SOC of the photovoltaic battery pack is greater than 0.8, the photovoltaic battery pack exceeds the normal working state, the SOC value is reduced, the engine stops driving the ISG motor to only do power output power generation, the photovoltaic battery pack discharges power to drive the motor to work, and the power coupling system couples and outputs the torque of the engine and the torque provided by the photovoltaic battery pack to the drive motor;
(18) when the SOC of the photovoltaic battery pack is more than or equal to 0.3 and less than or equal to 0.8, the photovoltaic battery pack works in a high-efficiency interval, as shown in figure 5, the engine outputs the fuel efficiency optimal point according to the current working rotating speed, or the engine stops running to carry out pure electric flight.
(2) The engine drives the generator to generate electricity, the electric energy generated by the generator is supplied to a driving motor control component for controlling the driving motor to work so as to ensure that the driving motor works, and when the output power of the engine is more than the required power, the generator is driven to generate electricity and store the electric energy in the photovoltaic battery pack; when the output power of the engine is less than the required power, the electric motor absorbs the electric energy and drives the propeller together with the engine; the photovoltaic power generation system determines the charging states of the super capacitor and the photovoltaic battery pack according to the SOC value of the super capacitor and the SOC value of the photovoltaic battery pack;
the charging state selection mode of the super capacitor and the photovoltaic battery pack in the step (2) is as follows: when the SOC value of the super capacitor is lower than the set threshold value of 0.3, the photovoltaic controller controls the photovoltaic power generation system to charge the super capacitor; when the SOC value of the super capacitor is higher than the set threshold value of 0.8 and the SOC of the photovoltaic battery pack is lower than 0.8, the photovoltaic controller controls the photovoltaic power generation system to charge the photovoltaic battery pack, and the photovoltaic power generation system does not work in other states, so that the super capacitor is maintained in a normal working state, and the service life of the super capacitor is prolonged.
(3) When the load of the aircraft suddenly rises or falls in the flight process, the control module distributes the power output of the engine and the total output power of the photovoltaic battery pack and the super capacitor according to the load requirement, and then distributes the power of the super capacitor and the photovoltaic battery pack; and the engine, the photovoltaic battery pack and the super capacitor are controlled according to the distribution result, so that the stable output of the power system is ensured.
And (3) distributing the output power of the engine, the super capacitor and the total output power of the photovoltaic battery pack by adopting a Pontryagin minimum value method, optimizing the output power of the engine by aiming at gathering dynamic property and economy, and jointly supplying the rest part by the super capacitor and the photovoltaic battery pack.
In the step (3), the power distribution of the super capacitor and the photovoltaic battery pack adopts a fuzzy control strategy of a combined controller, and the specific steps are as follows:
(31) as shown in fig. 6, the SOC and the required power of the super capacitor are input to the first fuzzy controller through the membership function, the SOC of the super capacitor and the SOC of the photovoltaic battery pack are input to the second fuzzy controller through the membership function, and P output by the first fuzzy controllerre-PbatAnd (1-K) output by the second fuzzy controllerbat)PreInput to the bi-directional DC/DC through the combining unit, the expression is as follows:
in the formula IucGiven current, V, for bidirectional DC/DCLiFor photovoltaic cell stacksVoltage, VucIs the terminal voltage of the supercapacitor;
(32) obtaining the power distribution coefficient K of the storage battery according to the calculation of the step (31)batThen obtaining the power distribution coefficient of the super capacitor as Kcap＝1-Kbat。
The membership function adopted in the step (31) is a triangular membership function, and the expression of the membership function is as follows:
in the formula, x is the SOC value of the super capacitor, and [ a, c ] is the domain, and a super capacitor membership function graph is obtained, as shown in FIGS. 7-12.
And (3) the power distribution factor membership function graph and the required power membership function graph of the second fuzzy controller in the step (31) are the same as those of the first fuzzy controller.
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 fixed wing aircraft of hybrid power of many power supplies series-parallel connection which characterized in that includes: the system comprises a fuselage, a left wing, a right wing, a propeller, a power coupler control unit, a driving motor, a motor shaft, an engine, a power coupling system, an ISG motor, a rectifier, an inverter, a motor controller, a super capacitor, a control module, a photovoltaic power generation system, an oil tank and an empennage;
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 output end of the ISG motor is electrically connected with the input end of the power coupling system;
the driving motor is electrically connected with the ISG motor;
the motor controller is electrically connected with the inverter and used for controlling the starting and stopping of the driving motor, the rotating speed and the torque;
the propeller is fixedly connected with the motor shaft and is arranged at the front end of the machine body;
the power coupling system is positioned between the driving motor and the propeller and consists of a gear ring, a planet wheel, a planet carrier, a transmission wheel, a transmission shaft and a sun wheel;
the sun wheel is connected with a driving motor;
the planet gear is respectively meshed with the sun gear and the gear ring;
the planet carrier is meshed with the transmission wheel;
the output end of the transmission shaft is connected with the propeller, the input end of the transmission shaft is connected with the output end of the engine, when the aircraft is in work, the engine works alone according to the flight power requirement of the aircraft, and the engine drives the transmission shaft to rotate alone to transmit driving force to the propeller; or the driving motor works independently, and the driving motor transmits driving force to the propeller through the sun wheel, the planet carrier, the driving wheel and the transmission shaft, so that the driving motor drives the propeller to work; or according to the flight power requirement of the aircraft, the engine and the driving motor are controlled to work simultaneously, and the driving force output by the engine is superposed with the driving force output by the driving motor, so that the synthesis of the two kinds of power is realized;
the photovoltaic power generation system includes: the system comprises an SOC estimation module, a photovoltaic controller and a photovoltaic battery pack;
the input end of the SOC estimation module is electrically connected with the photovoltaic battery pack and the super capacitor, and the output end of the SOC estimation module is electrically connected with the control module and is used for calculating SOC signals of the photovoltaic battery pack and the super capacitor and transmitting the SOC signals to the control module and the photovoltaic controller;
the photovoltaic battery pack is electrically connected with the output end of the rectifier, and the rectifier charges the photovoltaic battery pack with the converted direct current;
the input end of the photovoltaic controller is electrically connected with the output end of the SOC estimation module, and whether the photovoltaic battery pack charges the super capacitor is determined according to the SOC value of the super capacitor;
the super capacitor is electrically connected with the inverter, and the inverter outputs the converted alternating current to the ISG motor;
the power coupler control unit determines a coupling mode of the power coupling system according to an SOC value of the photovoltaic battery pack, wherein the power coupling system is in a pure electric mode when the SOC value is less than 0.3, the power coupling system is in a series-parallel mode when the SOC value is more than 0.8, and the power coupling system is in a pure fuel mode when the SOC value is between 0.3 and 0.8;
the motor shaft is an output shaft of the driving motor;
the input end of the rectifier is electrically connected with the output end of the generator, and the generated alternating current is converted into direct current;
the input end of the inverter is electrically connected with the photovoltaic battery pack and the super capacitor and used for converting direct current electric energy into alternating current, and the output end of the inverter is electrically connected with the ISG motor;
the control module is respectively electrically connected with the engine, the empennage and the ISG motor and controls all parts to work according to detected signals;
the oil tank is arranged in the machine body and connected with the engine through a hydraulic pipeline and used for supplying oil to the engine;
the empennage is fixedly arranged at the tail part of the aircraft body and used for controlling the lifting and the yawing motion of the aircraft.
2. The control method of the multi-power-source series-parallel hybrid fixed wing aircraft is based on the aircraft of claim 1, and is characterized by comprising the following steps of:
(1) when the aircraft normally flies, the SOC estimation module estimates the SOC values of the photovoltaic battery pack and the super capacitor, signals are transmitted to the control module and the photovoltaic power generation system, the SOC threshold values of the photovoltaic battery pack and the super capacitor are set, the control module regulates and controls the running state of the engine in real time according to the SOC signals of the photovoltaic battery and the set SOC threshold values, and electric energy of the driving motor comes from the supply of the photovoltaic battery pack and the super capacitor;
(2) the engine drives the generator to generate electricity, the electric energy generated by the generator is supplied to a driving motor control component for controlling the driving motor to work so as to ensure that the driving motor works, and when the output power of the engine is more than the required power, the generator is driven to generate electricity and store the electric energy in the photovoltaic battery pack; when the output power of the engine is less than the required power, the electric motor absorbs the electric energy and drives the propeller together with the engine; the photovoltaic power generation system determines the charging states of the super capacitor and the photovoltaic battery pack according to the SOC value of the super capacitor and the SOC value of the photovoltaic battery pack;
(3) when the load of the aircraft suddenly rises or falls in the flight process, the control module distributes the power output of the engine and the total output power of the photovoltaic battery pack and the super capacitor according to the load requirement, and then distributes the power of the super capacitor and the photovoltaic battery pack; and the engine, the photovoltaic battery pack and the super capacitor are controlled according to the distribution result, so that the stable output of the power system is ensured.
3. The control method of the multi-power-source series-parallel hybrid fixed wing aircraft according to claim 2, wherein the photovoltaic battery pack SOC estimation method in the step (1) adopts a neural network method, and comprises the following specific steps:
(11) selecting end current I and end voltage U as the input of a neural network, and selecting the SOC value of the photovoltaic battery pack as the output of the neural network;
(12) collecting charge and discharge data of the photovoltaic battery pack by using a charge and discharge experiment bench of the photovoltaic battery pack, taking 70% of the data as training data, using 15% of the data to check the neural network, using 15% of the data to verify the neural network finally, and training a neural network model;
(13) and when the aircraft is started, inputting the actual state parameters of the photovoltaic battery pack into the neural network model by using the trained neural network model to obtain the SOC value of the photovoltaic battery pack.
4. The control method of the multi-power-source series-parallel hybrid fixed wing aircraft according to claim 3, wherein the SOC estimation step of the photovoltaic battery pack in the step (13) is as follows:
(131) during estimation, according to an abstract model of a neural network, and with an ith neuron as a core, representing the connection relation among the neurons:
ai(t)＝gi(ai(t-1),neti(t-1))
oi(t)＝fi(ai(t))
in the formula, neti(t) is the input of the ith neuron at time t, i.e., terminal current I, ai(t) is the state of the ith neuron at time t, i.e. the SOC, o of the photovoltaic celli(t) is the output of the ith neuron at time t, i.e., terminal voltage U; giAnd fiRespectively an activation function and an output function associated with the ith neuron, giAnd fiAll independent of i, then:
in the formula, TiIs the threshold value of the ith neuron, namely the threshold value of SOC, and the learning rule of the neuron is the Hebb rule;
(132) and substituting the terminal current I and the terminal voltage U of the photovoltaic battery pack into the neural network model, and calculating to obtain an SOC estimated value of the photovoltaic battery pack.
5. The control method of the multi-power-source series-parallel hybrid fixed wing aircraft according to claim 3, wherein in the step (1), the SOC estimation of the super capacitor is the same as the SOC estimation of the photovoltaic battery pack, and a neural network method is adopted for estimation, and the specific estimation steps are the same as the steps (11) - (13).
6. The control method of the multi-power-source series-parallel hybrid fixed-wing aircraft according to claim 2, wherein in the step (1), when the aircraft flies, the specific control steps of the ISG motor are as follows:
(14) the control module calculates a target rotating speed required by the ISG motor according to the requirement;
(15) PID control is adopted, the difference between the target rotating speed and the actual rotating speed of the ISG motor is used as control input, the output is motor voltage, and the expression is as follows:
e(t)＝cr(t)-c(t)
wherein e (t) is an error, c (t) is a true valuer(t) is a desired value;
the control signals are:
the transfer function is of the form:
in the formula, KPIs a proportionality coefficient, TITo integrate the time constant, TDIs the differential time constant.
7. The control method of the multi-power-source series-parallel hybrid fixed wing aircraft according to claim 2, wherein the engine regulation and control method in the step (1) is as follows:
(16) when the SOC of the photovoltaic battery pack is less than 0.3, the SOC value is increased, the ISG motor is switched to a power generation state, the engine drives the ISG motor to generate power and supplies power to the photovoltaic battery pack together with the solar panel, and when the SOC value of the photovoltaic battery pack climbs to 0.8, the ISG motor is switched to an electric state, and the engine stops rotating;
(17) when the SOC of the photovoltaic battery pack is greater than 0.8, the photovoltaic battery pack exceeds the normal working state, the SOC value is reduced, the engine stops driving the ISG motor to only do power output power generation, the photovoltaic battery pack discharges power to drive the motor to work, and the power coupling system couples and outputs the torque of the engine and the torque provided by the photovoltaic battery pack to the drive motor;
(18) when the SOC of the photovoltaic battery pack is more than or equal to 0.3 and less than or equal to 0.8, the photovoltaic battery pack works in a high-efficiency interval, the engine outputs the fuel efficiency optimal point at the current working rotating speed, or the engine stops running to carry out pure electric flight.
8. The control method of the multi-power-source series-parallel hybrid fixed wing aircraft according to claim 2, wherein the charging state of the super capacitor and the photovoltaic battery pack in the step (2) is selected in a manner that: when the SOC value of the super capacitor is lower than the set threshold value of 0.3, the photovoltaic controller controls the photovoltaic power generation system to charge the super capacitor; when the SOC value of the super capacitor is higher than the set threshold value of 0.8 and the SOC of the photovoltaic battery pack is lower than 0.8, the photovoltaic controller controls the photovoltaic power generation system to charge the photovoltaic battery pack, and the photovoltaic power generation system does not work in other states, so that the super capacitor is maintained in a normal working state, and the service life of the super capacitor is prolonged.
9. The method for controlling the multi-power-source series-parallel hybrid fixed wing aircraft according to claim 2, wherein the distribution of the engine output power, the super capacitor and the total output power of the photovoltaic battery pack in the step (3) is optimized by a Pontryagin minimum value method aiming at gathering dynamic performance and economy, and the rest is supplied by the super capacitor and the photovoltaic battery pack together.
10. The control method of the multi-power-source series-parallel hybrid fixed wing aircraft as claimed in claim 2, wherein the power distribution of the super capacitor and the photovoltaic battery pack in the step (3) adopts a fuzzy control strategy of a combined controller, and the specific steps are as follows:
(31) inputting the SOC of the super capacitor and the required power into a first fuzzy controller through a membership function, inputting the SOC of the super capacitor and the SOC of the photovoltaic battery pack into a second fuzzy controller through the membership function, and outputting P by the first fuzzy controllerre-PbatAnd (1-K) output by the second fuzzy controllerbat)PreThrough a combined unitEntering bidirectional DC/DC, the expression is as follows:
in the formula IucGiven current, V, for bidirectional DC/DCLiIs the voltage of the photovoltaic cell group, VucIs the terminal voltage of the supercapacitor;
(32) obtaining the power distribution coefficient K of the storage battery according to the calculation of the step (31)batThen obtaining the power distribution coefficient of the super capacitor as Kcap＝1-Kbat。
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