CN112671089A - Power limit protection device and protection method for tethered unmanned aerial vehicle system - Google Patents
Power limit protection device and protection method for tethered unmanned aerial vehicle system Download PDFInfo
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- CN112671089A CN112671089A CN202011604124.2A CN202011604124A CN112671089A CN 112671089 A CN112671089 A CN 112671089A CN 202011604124 A CN202011604124 A CN 202011604124A CN 112671089 A CN112671089 A CN 112671089A
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Abstract
The invention provides a power limit protection device of a tethered unmanned aerial vehicle system, which comprises direct-current power supply equipment, airborne power supply conversion equipment, a motor and a backup battery, wherein the direct-current power supply equipment is connected with the airborne power supply conversion equipment; the airborne power supply conversion equipment, the motor and the backup battery are all arranged on the unmanned aerial vehicle, the airborne power supply conversion equipment is used for charging the backup battery and supplying power for the continuation of journey of the motor, the motor is a brushless motor directly driven by high voltage or low voltage, and the brushless motor provides power for mooring the unmanned aerial vehicle; the direct current power supply equipment is arranged on the ground and is connected to the airborne power supply conversion equipment through a mooring cable; under the condition of transient overpower of the tethered unmanned aerial vehicle system, the backup battery rapidly switches the working mode to supplement power; the emergency forced landing capability is achieved, the supplementary power effect is provided for the condition that the instantaneous motor power exceeds the limit value, and the probability of the machine explosion is greatly reduced.
Description
Technical Field
The invention belongs to the technical field of tethered unmanned aerial vehicles, and particularly relates to a power limit protection device and a protection method for a tethered unmanned aerial vehicle system.
Background
The mooring unmanned aerial vehicle system adopts ground power supply, and an airborne high-power supply completes high-voltage to low-voltage conversion. In order to reduce line loss, the ground AC220V or AC380V input is converted into DC400-DC1000V or above voltage, the voltage is transmitted to the airborne end of the unmanned aerial vehicle through a mooring cable, and the transmission distance can reach 100-300 meters.
Mooring unmanned aerial vehicle system has carried on the high-power module of airborne, and power module power is between 3KW to 20KW usually, and the input voltage of this power module is the output voltage of ground end, is DC300-DC1000V usually. The output voltage of the onboard high-power supply is 6s/12s (25.2V and 50.4V). The high pressure or the low pressure of output directly supplies unmanned aerial vehicle motor. Under this kind of application mode, mooring unmanned aerial vehicle is in the flight state of staying empty more than 12 hours, and the reliability requirement to airborne power is very high, in case airborne power is unusual, directly takes place the crash accident, so generally airborne end is equipped with backup battery assembly, and battery voltage conventionality is 25.2V, 50.4V (6s/12s series battery) or 360V high voltage battery.
Mooring unmanned aerial vehicle system has ground to step up the power failure and does not have the condition of output or mooring cable fracture at the operation in-process, and if the machine of this kind of condition does not have the reserve battery to carry out the power supply of short time and compels to land, can directly take place the crash accident. Although emergency forced landing can be realized by adopting a backup battery in the prior art, the problem of a transient ultra-power blasting machine of an unmanned aerial vehicle system cannot be solved (when a tethered unmanned aerial vehicle is disturbed by sudden strong whole wind at a height of hundreds of meters, the instantaneous power exceeds the power of a ground power supply electrode limit); in order to give consideration to the solution of solving the above-mentioned problem, this application provides a power limit protection device and protection method of staying unmanned aerial vehicle system.
Disclosure of Invention
The invention aims to provide a power limit protection device and a protection method of a tethered unmanned aerial vehicle system, which realize the seamless cut-in of a backup battery to supplement energy and reduce the probability of explosive devices under the condition of transient overpower of the tethered unmanned aerial vehicle system; meanwhile, the mooring unmanned aerial vehicle system realizes safe forced landing under the conditions of abnormity of a ground power supply system and damage of a mooring cable.
The invention provides the following technical scheme:
a power limit protection device for a tethered unmanned aerial vehicle system comprises a direct current power supply device, an onboard power supply conversion device, a motor and a backup battery; the airborne power supply conversion equipment, the motor and the backup battery are all arranged on the unmanned aerial vehicle, the airborne power supply conversion equipment is used for charging the backup battery and supplying power for the continuation of journey of the motor, the motor is a brushless motor directly driven by high voltage or low voltage, and the brushless motor provides power for the mooring unmanned aerial vehicle; the direct current power supply equipment is arranged on the ground and is connected to the airborne power supply conversion equipment through a mooring cable; under the transient state overpower condition of mooring unmanned aerial vehicle system, backup battery switches the mode rapidly, carries out the power supplement.
Preferably, mooring unmanned aerial vehicle system still includes power monitoring devices, power monitoring devices is including setting up current sensor and the voltage sensor on the motor power supply wire, thereby power monitoring devices is used for calculating the current power value of motor according to the signal data that current sensor and voltage sensor obtained.
Preferably, the power monitoring device further comprises a data acquisition module, a switch and a data analysis module; the current sensor and the voltage sensor are respectively connected to the data acquisition module, the switch converts current time domain signal data and voltage time domain signal data received by the data acquisition module into current frequency domain signal data and voltage frequency domain signal data respectively through an FFT (fast Fourier transform) algorithm, and the data analysis module intercepts a frequency spectrum peak value from the current frequency domain signal data and the voltage frequency domain signal data output by the switch so as to calculate the current power limit.
Preferably, the transient overpower of the tethered drone system is such that the current power limit is greater than the preset power limit of the tethered drone system.
Preferably, the dc power supply device comprises at least 100 strings of battery packs 16 in parallel to provide a 320V, 80HA power supply.
Preferably, the dc power supply device includes a state monitoring device, and the state monitoring device is configured to monitor at least one of an operating voltage, an operating current, and an operating temperature of the dc power supply device in real time.
A protection method of a power limit protection device of a tethered unmanned aerial vehicle system comprises the following steps:
s1, selecting a brushless motor directly driven by high voltage or low voltage for the motor of the mooring unmanned aerial vehicle;
s2, the mooring unmanned aerial vehicle system works in a mode that power transmission of the airborne power supply conversion equipment is directly supplied to the motor, and meanwhile the airborne power supply conversion equipment is connected with a backup battery;
s3, the output of the airborne power supply conversion equipment is used for charging the backup battery assembly and carrying out avionic power supply on the tethered unmanned aerial vehicle system, and the charging power is controllable;
s4, under the condition of transient overpower of the motor of the tethered unmanned aerial vehicle, the backup battery rapidly switches the working mode and supplies power to the motor of the tethered unmanned aerial vehicle so as to supplement power and ensure the stable working of the tethered unmanned aerial vehicle;
s5, under the condition that the power supply of the direct current power supply equipment of the tethered unmanned aerial vehicle is abnormal and cannot be output, the backup battery switches to work, the power is supplied to a motor of the tethered unmanned aerial vehicle, and meanwhile, an alarm signal is output, and the tethered unmanned aerial vehicle enters an emergency forced landing state;
s6, under the damaged condition of mooring cable of mooring unmanned aerial vehicle, the backup battery switches work, supplies to the motor of mooring unmanned aerial vehicle, outputs alarm signal simultaneously, and mooring unmanned aerial vehicle enters into the urgent state of forcing to land.
The invention has the beneficial effects that:
according to the power limit protection device and the protection method for the tethered unmanned aerial vehicle system, the backup battery not only provides an emergency forced landing function, but also provides a power supplementing effect for the condition that the instantaneous motor power exceeds the limit value, so that the probability of blasting is greatly reduced; the airborne equipment is utilized to the maximum extent, and the utilization rate of the precious airborne equipment is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic flow diagram of the process of the present invention.
Detailed Description
As shown in fig. 1, the power limit protection device of the tethered unmanned aerial vehicle system includes a dc power supply device, an onboard power supply conversion device, a motor, and a backup battery; the airborne power supply conversion equipment, the motor and the backup battery are all arranged on the unmanned aerial vehicle, the airborne power supply conversion equipment is used for charging the backup battery and supplying power for the continuation of journey of the motor, the motor is a brushless motor directly driven by high voltage or low voltage, and the brushless motor provides power for mooring the unmanned aerial vehicle; the direct current power supply equipment is arranged on the ground and is connected to the airborne power supply conversion equipment through a mooring cable; under the transient state super power condition of mooring unmanned aerial vehicle system, the backup battery switches the mode rapidly, carries out the power supplement.
In order to judge the transient over-power condition, a power monitoring device is arranged on the tethered unmanned aerial vehicle system and comprises a current sensor and a voltage sensor which are arranged on a power supply lead of the motor, and the power monitoring device is used for calculating the current power value of the motor according to signal data acquired by the current sensor and the voltage sensor; the power monitoring device also comprises a data acquisition module, a switch and a data analysis module; the current sensor and the voltage sensor are respectively connected to the data acquisition module, the exchanger converts current time domain signal data and voltage time domain signal data received by the data acquisition module into current frequency domain signal data and voltage frequency domain signal data respectively through an FFT (fast Fourier transform) algorithm, and the data analysis module intercepts a frequency spectrum peak value from the current frequency domain signal data and the voltage frequency domain signal data output by the exchanger so as to calculate the current power limit; the transient overpower of the mooring unmanned aerial vehicle system is that the current power limit is larger than the preset power limit of the mooring unmanned aerial vehicle system.
The DC power supply equipment can select at least 100 strings of battery packs formed by 16 in parallel to provide 320V and 80HA power supplies; in order to judge the abnormality of the direct current power supply equipment, the direct current power supply equipment is provided with a state monitoring device, and the state monitoring device is used for monitoring at least one of working voltage, working current and working temperature of the direct current power supply equipment in real time.
As shown in fig. 2, the protection method of the power limit protection device of the tethered drone system includes the following steps:
s1, selecting a brushless motor directly driven by high voltage or low voltage for the motor of the mooring unmanned aerial vehicle;
s2, the mooring unmanned aerial vehicle system works in a mode that power transmission of the airborne power supply conversion equipment is directly supplied to the motor, and meanwhile the airborne power supply conversion equipment is connected with a backup battery;
s3, the output of the airborne power supply conversion equipment is used for charging the backup battery assembly and carrying out avionic power supply on the tethered unmanned aerial vehicle system, and the charging power is controllable;
s4, under the condition of transient overpower of the motor of the tethered unmanned aerial vehicle, the backup battery rapidly switches the working mode and supplies power to the motor of the tethered unmanned aerial vehicle so as to supplement power and ensure the stable working of the tethered unmanned aerial vehicle;
s5, under the condition that the power supply of the direct current power supply equipment of the tethered unmanned aerial vehicle is abnormal and cannot be output, the backup battery switches to work, the power is supplied to a motor of the tethered unmanned aerial vehicle, and meanwhile, an alarm signal is output, and the tethered unmanned aerial vehicle enters an emergency forced landing state;
s6, under the damaged condition of mooring cable of mooring unmanned aerial vehicle, the backup battery switches work, supplies to the motor of mooring unmanned aerial vehicle, outputs alarm signal simultaneously, and mooring unmanned aerial vehicle enters into the urgent state of forcing to land.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The power limit protection device for the tethered unmanned aerial vehicle system is characterized by comprising direct-current power supply equipment, airborne power supply conversion equipment, a motor and a backup battery; the airborne power supply conversion equipment, the motor and the backup battery are all arranged on the unmanned aerial vehicle, the airborne power supply conversion equipment is used for charging the backup battery and supplying power for the continuation of journey of the motor, the motor is a brushless motor directly driven by high voltage or low voltage, and the brushless motor provides power for the mooring unmanned aerial vehicle; the direct current power supply equipment is arranged on the ground and is connected to the airborne power supply conversion equipment through a mooring cable; under the transient state overpower condition of mooring unmanned aerial vehicle system, backup battery switches the mode rapidly, carries out the power supplement.
2. The power limit protection device of a tethered drone system of claim 1, further comprising a power monitoring device comprising a current sensor and a voltage sensor disposed on the power conductor of the motor, the power monitoring device configured to calculate a current power value of the motor based on signal data obtained by the current sensor and the voltage sensor.
3. The power limit protection device of a tethered drone system of claim 2, said power monitoring device further comprising a data acquisition module, a switch, and a data analysis module; the current sensor and the voltage sensor are respectively connected to the data acquisition module, the switch converts current time domain signal data and voltage time domain signal data received by the data acquisition module into current frequency domain signal data and voltage frequency domain signal data respectively through an FFT (fast Fourier transform) algorithm, and the data analysis module intercepts a frequency spectrum peak value from the current frequency domain signal data and the voltage frequency domain signal data output by the switch so as to calculate the current power limit.
4. The power limit protection device of a tethered drone system of claim 3, wherein the tethered drone system transient overpower is a current power limit greater than a preset power limit for the tethered drone system.
5. The power limit protection device of a tethered drone system of claim 1, wherein said dc power supply comprises at least 100 strings of 16 batteries in parallel to provide a 320V, 80HA power supply.
6. The power limit protection device of a tethered drone system of claim 1, wherein the dc supply device comprises a condition monitoring device for monitoring in real time at least one of operating voltage, operating current and operating temperature of the dc supply device.
7. A protection method of a power limit protection device of a tethered unmanned aerial vehicle system is characterized by comprising the following steps:
s1, selecting a brushless motor directly driven by high voltage or low voltage for the motor of the mooring unmanned aerial vehicle;
s2, the mooring unmanned aerial vehicle system works in a mode that power transmission of the airborne power supply conversion equipment is directly supplied to the motor, and meanwhile the airborne power supply conversion equipment is connected with a backup battery;
s3, the output of the airborne power supply conversion equipment is used for charging the backup battery assembly and carrying out avionic power supply on the tethered unmanned aerial vehicle system, and the charging power is controllable;
s4, under the condition of transient overpower of the motor of the tethered unmanned aerial vehicle, the backup battery rapidly switches the working mode and supplies power to the motor of the tethered unmanned aerial vehicle so as to supplement power and ensure the stable working of the tethered unmanned aerial vehicle;
s5, under the condition that the power supply of the direct current power supply equipment of the tethered unmanned aerial vehicle is abnormal and cannot be output, the backup battery switches to work, the power is supplied to a motor of the tethered unmanned aerial vehicle, and meanwhile, an alarm signal is output, and the tethered unmanned aerial vehicle enters an emergency forced landing state;
s6, under the damaged condition of mooring cable of mooring unmanned aerial vehicle, the backup battery switches work, supplies to the motor of mooring unmanned aerial vehicle, outputs alarm signal simultaneously, and mooring unmanned aerial vehicle enters into the urgent state of forcing to land.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011604124.2A CN112671089A (en) | 2020-12-29 | 2020-12-29 | Power limit protection device and protection method for tethered unmanned aerial vehicle system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011604124.2A CN112671089A (en) | 2020-12-29 | 2020-12-29 | Power limit protection device and protection method for tethered unmanned aerial vehicle system |
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| CN112671089A true CN112671089A (en) | 2021-04-16 |
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| CN202011604124.2A Pending CN112671089A (en) | 2020-12-29 | 2020-12-29 | Power limit protection device and protection method for tethered unmanned aerial vehicle system |
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