CN113006962A - Engine controller for range-extended hybrid power unmanned aerial vehicle - Google Patents
Engine controller for range-extended hybrid power unmanned aerial vehicle Download PDFInfo
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- CN113006962A CN113006962A CN202110148596.XA CN202110148596A CN113006962A CN 113006962 A CN113006962 A CN 113006962A CN 202110148596 A CN202110148596 A CN 202110148596A CN 113006962 A CN113006962 A CN 113006962A
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- module
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- aerial vehicle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D37/00—Non-electrical conjoint control of two or more functions of engines, not otherwise provided for
- F02D37/02—Non-electrical conjoint control of two or more functions of engines, not otherwise provided for one of the functions being ignition
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/0002—Controlling intake air
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/22—Safety or indicating devices for abnormal conditions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
- F02D41/26—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using computer, e.g. microprocessor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/30—Controlling fuel injection
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
An engine controller for a range-extended hybrid unmanned aerial vehicle comprises a circuit board and a connector, wherein a microcontroller module is arranged on the circuit board, a power supply module, a rotating speed signal processing module, a communication module, an analog input module, a low-side driving module and an ignition driving module, the microcontroller module is used for processing and post-processing control instruction analysis and data acquisition, and the microcontroller module is respectively electrically connected with the power supply module, the rotating speed signal processing module, the communication module, the analog input module, the low-side driving module and the ignition driving module on the circuit board; the connector is provided with an analog quantity signal interface, a digital quantity signal interface, an engine ignition signal interface, an oil injection control signal interface, a communication interface and a power supply interface. The invention can accurately control the engine to operate under different working conditions, thereby realizing the state monitoring of the engine. In addition, the controller has the advantages of low power consumption, fault diagnosis, safety redundancy and electromagnetic interference resistance, and flight safety of the engine is guaranteed.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an engine controller for a range-extended hybrid power unmanned aerial vehicle.
Background
The multi-rotor unmanned aerial vehicle occupies the mainstream of the civil unmanned aerial vehicle due to the characteristics of simple structure, good stability and the like. But the electric unmanned aerial vehicle leads to the time of flight too short because of multiple restrictions at present. The endurance of the drone depends mainly on the energy density of the battery, and in recent years, the related technology development falls into the bottleneck, so that it becomes necessary to improve the endurance by using hybrid power. However, most of the engines applied to hybrid unmanned aerial vehicles are carburetor type engines, engine controllers are partially integrated in the whole power management system, the engines are started after the battery electric quantity SOC reaches a certain limit value, the engines work at a certain specific rotating speed, the rotating speed of the engines is stabilized by adjusting the throttle valves of the engines through the power management controllers, the rotating speed is adjusted only through the engine throttle valves, the fuel injection quantity and the ignition timing cannot be adjusted, and the temperature of the engines cannot be rapidly and stably fixed at a certain rotating speed.
But the engine of current unmanned aerial vehicle has following problem: the engine can only work under a relatively fixed working condition, and the engine can work at other high-efficiency working points to follow the power of the driving motor by adjusting ignition timing, fuel injection quantity and fuel injection timing; the working state of the engine cannot be monitored in real time, the fault diagnosis is carried out on the engine, and the flight safety of the engine cannot be ensured; integration of engine control and control modules for other components in the same controller does not provide good control of electromagnetic compatibility.
Disclosure of Invention
The invention aims to provide an engine controller for a range-extended hybrid unmanned aerial vehicle.
The technical scheme adopted by the invention for solving the technical problems in the prior art is as follows:
the engine controller for the extended range hybrid unmanned aerial vehicle comprises a circuit board and a connector, wherein the circuit board is provided with a microcontroller module, a power supply module, a rotating speed signal processing module, a communication module, an analog input module, a low-side driving module and an ignition driving module; the connector is provided with an analog quantity signal interface, a digital quantity signal interface, an engine ignition signal interface, an oil injection control signal interface, a communication interface and a power supply interface.
The invention can also adopt the following technical measures:
the power module converts an external power supply into different digital power supplies required by each digital module and supplies power to the digital modules, and simultaneously generates two paths of analog power supplies to supply power to the sensor and the analog input circuit.
The ignition driving module is connected with and controlled by the microcontroller module, an ignition coil in the ignition driving module adopts pre-driving, the circuit has the functions of detecting the voltage and the current of the ignition coil, a current detection resistor is used for providing current control, and overcurrent protection is provided for a driver; when overcurrent occurs, the operational amplifier can generate a signal indicating the overcurrent and sends the signal to the microcontroller module, the microcontroller module stops ignition after receiving the overcurrent signal, the operational amplifier monitors whether the ignition current exceeds a preset value or not, and the triode directly turns off the driver when the ignition current exceeds the preset value.
The low-side driving module integrates 5 low-side drivers to drive two oil sprayers, a fault lamp and two relays, and each low-side driver sends fault information to the microcontroller module through the SPI.
The speed processing module comprises a variable reluctance sensor input circuit which provides a plurality of thresholds for the comparator, allows the VRS circuit to handle a wide dynamic range of different sensor outputs, and controls the comparator thresholds according to the input signal amplitude.
The analog input module acquires throttle position, air inlet pressure, air inlet temperature, atmospheric pressure, atmospheric temperature, cylinder body temperature, crankcase pressure, sensor voltage and power supply voltage signals, processes the signals and sends the signals to the microcontroller module; the circuit of the analog input module comprises: a resistive sensor signal input circuit and a voltage-based sensor signal input circuit.
The communication module is provided with an SPI, a CAN bus, an RS-485 and an LIN bus, wherein the SPI and the LIN bus are used for internal communication of the controller, the CAN bus is used for communicating with the energy management controller of the hybrid power system to acquire the required working condition of the engine and report the working state of the engine, and the RS-485 is a standby communication mode of the controller and the energy management controller.
The invention has the advantages and positive effects that:
in the engine controller for the extended range hybrid unmanned aerial vehicle, the controller not only can adjust the opening of the throttle valve, but also can control the ignition timing, which means that the engine can be quickly and stably stabilized at a certain rotating speed by matching with a higher-level algorithm. The controller of the invention can control the ignition timing, the fuel injection quantity and the fuel injection timing of the engine to enable the engine to work at other high-efficiency working points to follow the power of the driving motor, thereby further improving the economy of the hybrid power system. The microcontroller can automatically turn off the power supply for standby according to the working state, thereby keeping low energy consumption. Safety redundancy designs such as drive fault diagnosis, voltage and current protection and the like are added in the hardware design of the controller, and the running state of the engine can be monitored in real time so as to ensure the flight safety of the engine. The hardware design of the controller adopts the modes of isolation, filtering, bypass, decoupling and the like to carry out electromagnetic compatibility design, and can meet the higher electromagnetic compatibility requirement of the aircraft.
Drawings
Fig. 1 is a schematic diagram of the architecture of an engine controller for an extended range hybrid drone of the present invention;
fig. 2 is a schematic diagram of a power module in an engine controller for an extended range hybrid unmanned aerial vehicle of the present invention;
fig. 3 is a schematic diagram of an ignition driver module in an engine controller for an extended range hybrid drone of the present invention;
fig. 4 is a schematic diagram of a low-side drive module in an engine controller for an extended range hybrid unmanned aerial vehicle of the present invention;
fig. 5 is a schematic diagram of the connection between the microcontroller module and the steering engine driving circuit in the engine controller for the extended range hybrid unmanned aerial vehicle according to the present invention.
Detailed Description
The technical solution of the present invention is explained in detail by the accompanying drawings and the specific embodiments.
As shown in fig. 1, the engine controller for the extended range hybrid unmanned aerial vehicle of the invention comprises a circuit board and a connector, wherein the circuit board is provided with a microcontroller module, a power module, a rotational speed signal processing module, a communication module, an analog input module, a low-side driving module and an ignition driving module, the microcontroller module is used for analyzing a control instruction and processing and post-processing acquired data, and the microcontroller module is respectively electrically connected with the power module, the rotational speed signal processing module, the communication module, the analog input module, the low-side driving module and the ignition driving module on the circuit board; the connector is provided with an analog quantity signal interface, a digital quantity signal interface, an engine ignition signal interface, an oil injection control signal interface, a communication interface and a power supply interface.
As shown in fig. 2, the power module converts an external 12V power into 5V, 3.3V, and 1.5V power required by the digital module to supply power to different digital modules, and simultaneously generates two 5V analog power supplies to supply power to the sensor and the analog input circuit, so that the method for isolating the digital power supply from the analog power supply can well avoid interference.
One function of the power supply is that the power supply module may be enabled by either the IGN input or the output of the MCU. Thus, even if the ignition key is turned off, the software can keep the MCU in an active state. The MCU stores the learned value after power failure and resets the position of the idle stepping motor, and meanwhile, the MCU can automatically turn off the power supply for standby according to the working state, so that the energy consumption of the controller is reduced.
As shown in fig. 3, the ignition driver module microcontroller module is connected to and controlled by the microcontroller module, the ignition coil is pre-driven, the circuit has functions of ignition coil voltage and current sensing, using current sense resistor R72 to provide more accurate current control, and a safety redundant design to provide overcurrent protection for driver Q4 in both hardware and software. When overcurrent occurs, the operational amplifier U9B generates a signal indicating overcurrent and sends the signal to the microcontroller, the microcontroller stops ignition by software after receiving the overcurrent signal, on the other hand, the operational amplifier U10A monitors whether the ignition current exceeds a preset value or not at all, once the ignition current exceeds the preset value, the triode Q5 directly turns off the driver Q4, and protection is provided on hardware.
As shown in fig. 4, the low-side driver module integrates 5 low-side drivers, and can drive two injectors, a fault lamp and two relays, and each low-side driver has a diagnostic function, and can send fault information to the microcontroller through the SPI.
The speed processing module includes a Variable Reluctance Sensor (VRS) input circuit that provides a plurality of thresholds to the comparator, which can be programmed via the SPI to allow the VRS circuit to handle a wide dynamic range of different sensor outputs, and can also automatically control the comparator thresholds based on the input signal amplitude, while being compatible with the magnetoelectric sensor signals and the Hall sensor signals.
The analog input module can acquire signals such as throttle position, air inlet pressure, air inlet temperature, atmospheric pressure, atmospheric temperature, cylinder body temperature, crankcase pressure, sensor voltage, power supply voltage and the like, process the signals and provide the signals to the microcontroller for monitoring the running state of the engine. The analog input module circuit is mainly divided into two types, one is used for processing a resistance type sensor signal, and the other is used for processing a voltage type sensor signal.
The communication module is provided with a plurality of communication protocols such as SPI, CAN bus, RS-485, LIN bus and the like. The SPI and the LIN are used for internal communication of the controller, the CAN bus is mainly used for communicating with the energy management controller of the hybrid power system, obtaining working conditions required by an engine and reporting the working state of the engine, the highest communication rate CAN reach 1Mbps, and the RS-485 is a standby communication mode of the controller and the energy management controller.
As shown in fig. 5, a photocoupler is used for isolation in the steering engine drive circuit. The PWM signal output port of the microcontroller is connected with a photoelectric coupler and a triode amplifier and then connected with the steering engine, and a PWM control signal sent by the controller is transmitted to the triode Q201 through the conversion of electricity → light → electricity via the photoelectric coupler and then transmitted to the steering engine through amplification. The optical coupler realizes the coupling and transmission of electric signals by taking optical signals as media, the input and the output are completely isolated electrically, and the electric signal transmission has the characteristics of unidirectionality and the like, so that the optical coupler has good electric insulation capacity and interference resistance capacity.
Besides optoelectronic coupling isolation, the design also adopts other modes for improving electromagnetic compatibility, including: the power supply adopts isolation and filtering design; the analog input circuit and the rotating speed processing circuit utilize RC filtering; adding bypass and decoupling capacitance, etc.
Although the present invention has been described with reference to the preferred embodiments, it is to be understood that the present invention is not limited to the disclosed embodiments, but various changes and modifications may be made by one skilled in the art without departing from the scope of the invention.
Claims (7)
1. The utility model provides an engine controller for extending form hybrid unmanned aerial vehicle, a serial communication port, including circuit board and connector, wherein be equipped with microcontroller module on the circuit board, power module, rotational speed signal processing module, communication module, analog input module, low side drive module and ignition drive module, microcontroller module carries out the processing and the aftertreatment of control command analysis and data collection, microcontroller module is connected with power module, rotational speed signal processing module, communication module, analog input module, low side drive module, ignition drive module electricity on the circuit board respectively; the connector is provided with an analog quantity signal interface, a digital quantity signal interface, an engine ignition signal interface, an oil injection control signal interface, a communication interface and a power supply interface.
2. The engine controller for the extended range hybrid unmanned aerial vehicle of claim 1, wherein: the power module converts an external power supply into different digital power supplies required by each digital module and supplies power to the digital modules, and simultaneously generates two paths of analog power supplies to supply power to the sensor and the analog input circuit.
3. The engine controller for the extended range hybrid unmanned aerial vehicle of claim 1 or 2, wherein: the ignition driving module is connected with and controlled by the microcontroller module, an ignition coil in the ignition driving module adopts pre-driving, the circuit has the functions of detecting the voltage and the current of the ignition coil, a current detection resistor is used for providing current control, and overcurrent protection is provided for a driver; when overcurrent occurs, the operational amplifier can generate a signal indicating the overcurrent and sends the signal to the microcontroller module, the microcontroller module stops ignition after receiving the overcurrent signal, the operational amplifier monitors whether the ignition current exceeds a preset value or not, and the triode directly turns off the driver when the ignition current exceeds the preset value.
4. The engine controller for the extended range hybrid unmanned aerial vehicle of claim 1, wherein: the integrated 5 low limit drivers of low limit drive module, two sprayer of drive, a trouble lamp, two relays, each way low limit drive passes through SPI and sends fault information to microcontroller module.
5. The engine controller for the extended range hybrid unmanned aerial vehicle of claim 1, wherein: the speed processing module includes a variable reluctance sensor input circuit that provides multiple thresholds to the comparator, allowing the VRS circuit to handle a wide dynamic range of different sensor outputs, controlling the comparator thresholds according to the input signal amplitude.
6. The engine controller for the extended range hybrid unmanned aerial vehicle of claim 1, wherein: the analog input module collects throttle position, air inlet pressure, air inlet temperature, atmospheric pressure, atmospheric temperature, cylinder body temperature, crankcase pressure, sensor voltage and power supply voltage signals, processes the signals and sends the signals to the microcontroller module; the circuit of the analog input module comprises: a resistive sensor signal input circuit and a voltage-based sensor signal input circuit.
7. The engine controller for the extended range hybrid unmanned aerial vehicle of claim 1, wherein: the communication module is provided with an SPI, a CAN bus, an RS-485 and an LIN bus, wherein the SPI and the LIN bus are used for internal communication of the controller, the CAN bus is used for communicating with the energy management controller of the hybrid power system to acquire the required working condition of the engine and report the working state of the engine, and the RS-485 is a standby communication mode of the controller and the energy management controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110148596.XA CN113006962A (en) | 2021-02-03 | 2021-02-03 | Engine controller for range-extended hybrid power unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110148596.XA CN113006962A (en) | 2021-02-03 | 2021-02-03 | Engine controller for range-extended hybrid power unmanned aerial vehicle |
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| CN113006962A true CN113006962A (en) | 2021-06-22 |
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| CN202110148596.XA Pending CN113006962A (en) | 2021-02-03 | 2021-02-03 | Engine controller for range-extended hybrid power unmanned aerial vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113638812A (en) * | 2021-08-30 | 2021-11-12 | 深圳天鹰兄弟无人机创新有限公司 | Hybrid unmanned aerial vehicle increases journey ware control system |
| CN115949515A (en) * | 2022-12-27 | 2023-04-11 | 中国航天空气动力技术研究院 | Engine power control system |
-
2021
- 2021-02-03 CN CN202110148596.XA patent/CN113006962A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113638812A (en) * | 2021-08-30 | 2021-11-12 | 深圳天鹰兄弟无人机创新有限公司 | Hybrid unmanned aerial vehicle increases journey ware control system |
| CN115949515A (en) * | 2022-12-27 | 2023-04-11 | 中国航天空气动力技术研究院 | Engine power control system |
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