CN113830312B - Hybrid system for unmanned aerial vehicle and power supply control method - Google Patents
Hybrid system for unmanned aerial vehicle and power supply control method Download PDFInfo
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- CN113830312B CN113830312B CN202111031588.3A CN202111031588A CN113830312B CN 113830312 B CN113830312 B CN 113830312B CN 202111031588 A CN202111031588 A CN 202111031588A CN 113830312 B CN113830312 B CN 113830312B
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000003990 capacitor Substances 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 25
- 238000004891 communication Methods 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 30
- 230000008859 change Effects 0.000 claims description 18
- 230000000087 stabilizing effect Effects 0.000 claims description 18
- 238000010248 power generation Methods 0.000 claims description 12
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 description 9
- 230000008901 benefit Effects 0.000 description 4
- 239000000446 fuel Substances 0.000 description 3
- 230000003111 delayed effect Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/026—Aircraft characterised by the type or position of power plants comprising different types of power plants, e.g. combination of a piston engine and a gas-turbine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/11—Propulsion using internal combustion piston engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The invention discloses a hybrid system for an unmanned aerial vehicle and a power supply control method, which comprises the following steps: the power system, the power output control system and the signal processing system are connected at the same time, and the power system is connected with the signal processing system; the power output control system comprises a power output control module and a super capacitor group, the signal processing system comprises a control module and a communication module, one end of the output control module is connected with the power supply bus and is connected with the super capacitor group in parallel, the other end of the output control module is connected with the control module, one end of the control module is connected with the communication module, and the other end of the control module is connected with the power system; the invention provides a direct charging control method and a direct charging control structure, which can stabilize output power and improve flight reliability of an unmanned aerial vehicle.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle power supply, in particular to a hybrid system for an unmanned aerial vehicle and a power supply control method.
Background
The battery-driven unmanned aerial vehicle is rapid in development and wide in application, but in the application fields such as inspection, mapping, plant protection and the like, because special equipment is required to be mounted, the endurance mileage and the endurance time of the unmanned aerial vehicle are greatly discounted, a plurality of battery packs are often required for executing one task, and the use cost is increased. Compared with a battery-driven unmanned aerial vehicle, the fuel-driven unmanned aerial vehicle has the advantages that the power density is greatly improved, the unmanned aerial vehicle can carry a large load and sail for a long time, but the operation difficulty of the fuel-powered unmanned aerial vehicle is increased due to poor power output stability of an engine, and the safety is high. On the basis, the hybrid system is generated by providing a power source with high power density by an engine, naturally regulating and controlling the output power of a power set by a mounted lithium battery, combining the advantages of high fuel energy density and stable battery discharge performance, and realizing the stable navigation of the unmanned aerial vehicle for a long time under a large load.
The hybrid system mainly comprises an engine, an oil tank, a rectifying device, a control system and a storage battery, wherein the engine outputs mechanical energy through burning fuel oil, the mechanical energy is converted into electric energy by a starting and generating integrated machine, and direct current is output through a rectifying bridge so as to consume the power supply and charge the storage battery. The key of the hybrid unmanned aerial vehicle lies in the power supply problem, the manufacturer selects the output of the constant power output by the engine of the hybrid system to charge the battery pack, when the battery pack is sufficient in electric energy, the battery pack is used for independently supplying power to the unmanned aerial vehicle, when the power is insufficient, the engine and the battery pack are used for jointly supplying power to the unmanned aerial vehicle, the power supply mode is similar to that of an extended range electric vehicle, the advantage is that the engine end is simple to control, the logic is clear, but the mode needs to mount a large-capacity storage battery, the unmanned aerial vehicle needs to mount a plurality of battery packs, the load consumed by the battery packs is increased, the power consumption of the unmanned aerial vehicle is increased along with the increase of the battery packs, the safety of flying in the air is reduced along with the increase of the battery packs, the service life of the battery packs is also reduced due to frequent charge and discharge, and the cost for replacing the battery packs is greatly increased.
How to reduce the use of battery packs, stabilize the power output of a power supply bus, and improve the flight safety is a problem to be solved.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a hybrid system for the unmanned aerial vehicle, and simultaneously provides a power supply control method for the unmanned aerial vehicle.
The invention is realized by the following technical scheme:
a hybrid system for an unmanned aerial vehicle, comprising: the power system, the power output control system and the signal processing system are connected at the same time, and the power system is connected with the signal processing system;
the power output control system comprises a power output control module and a super capacitor group, the signal processing system comprises a control module and a communication module, one end of the output control module is connected with the power supply bus and the super capacitor group at the same time, the other end of the output control module is connected with the control module, one end of the control module is connected with the communication module, and the other end of the control module is connected with the power system;
the power output control module collects the output current voltage value of the power supply bus, sends data to the control module, and after receiving the signals, the control module makes logic judgment to control the power output of the power system. Further, the power output control system further comprises a DC/DC voltage stabilizing module, wherein the input end of the DC/DC voltage stabilizing module is connected with the output end of the power system, and the output end of the DC/DC voltage stabilizing module is connected with the power output control module and used for stabilizing the direct-current voltage output by the power system to a target voltage.
Further, the power output control system further comprises a backup battery pack, wherein the backup battery pack is connected with the super capacitor pack and is formed by connecting a plurality of lithium batteries in series.
Further, the power system comprises an engine, a throttle control mechanism, a power generation starting integrated machine and an AC/DC rectification module, wherein one end of the engine is connected with the throttle control mechanism, and the other end of the engine is connected with the power generation starting integrated machine; one end of the AC/DC rectifying module is connected with the power generation starting integrated machine, the other end of the AC/DC rectifying module is connected with the DC/DC voltage stabilizing module, the AC/DC rectifying module is connected with the power output control module, and the throttle control mechanism is connected with the control module.
Further, the invention provides a power supply control method for an unmanned aerial vehicle, comprising,
when the ground end has no operation instruction, and the unmanned aerial vehicle demand power is stable:
the power output control module collects voltage signal values of the power supply bus and judges the change of the required voltage;
the power output control module and the super capacitor group are matched to output power;
when the ground end has an operation instruction, and the unmanned aerial vehicle demand power is stable:
the control module compensates the throttle information of the engine according to the instructions of the ground end, and increases the output power of the engine along with the increase of the required power of the unmanned aerial vehicle;
the power output control module collects voltage signal values of the power supply bus and judges the change of the required voltage;
the power output control module and the super capacitor group are matched to output power.
Further, the steps are as follows: the power output control module collects voltage signal values of the power supply bus, and the method specifically comprises the following steps of:
the control module can obtain the real-time voltage and current state of the power supply bus in real time according to the current value and the voltage value of the power supply bus acquired by the power output control module;
the control module can judge whether a signal is required to be sent to control the throttle control mechanism to increase or decrease the output power of the engine according to the acquired real-time voltage and current states.
Further, the throttle control mechanism is connected with the throttle, and throttle information sent by the throttle is used for controlling the throttle control mechanism, so that the power output of the engine is controlled.
Further, the steps are as follows: the control module compensates the throttle information of the engine according to the instructions of the ground end, and increases the output power of the engine along with the increase of the required power of the unmanned aerial vehicle, and the control module specifically comprises the following steps:
the control module can compensate the signal sent by the control module to the throttle control mechanism by adopting a feedforward control method to the ground-end throttle signal;
when the throttle signal at the ground end is increased, the control module receives the signal in real time and sends a signal command to synchronously compensate the throttle control signal when the required power of the unmanned aerial vehicle is increased, so that the power output control module increases the power of the engine in advance before detecting the voltage drop of the power supply bus, and the influence caused by the hysteresis of the voltage value and the current value of the reference power supply bus of the power output control module is reduced.
Compared with the prior art, the invention has the advantages that:
1. through the thinking of feedforward control, the power output of the engine can be adjusted when the ground end sends the motion instruction, the voltage caused by the sudden change of the power required by the unmanned aerial vehicle is prevented from being greatly reduced, the flight instruction is slowly executed, and the flight safety is influenced by heavy weight. The power supply bus is connected with a super capacitor group in parallel, so that voltage output can be stabilized when the required power changes. The power output control module designed by the control idea can control the output direction of current, can charge the standby battery pack when not flying, can directly supply power to the unmanned aerial vehicle in flying, and can be used for starting the engine in the air when the engine is accidentally flameout. The universality of the hybrid system is improved, and the safety of the unmanned aerial vehicle during flight is improved.
Drawings
FIG. 1 is a schematic diagram of a hybrid system for direct power and signal transmission according to an embodiment of the present invention;
fig. 2 is a flow chart of a method of direct power supply mode of the hybrid system.
The system comprises a 1-power system, a 10-generator, an 11-throttle control mechanism, a 12-power generation starting integrated machine and a 13-AC/DC rectifying module; the system comprises a 2-power output control system, a 20-DC/DC voltage stabilizing module, a 21-power output control module, a 22-backup battery pack and a 23-super capacitor pack; the system comprises a 3-signal processing system, a 30-control module and a 31-communication module; 4-power bus.
Detailed Description
The technical scheme of the invention is further described in non-limiting detail below with reference to the preferred embodiments and the accompanying drawings. In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. refer to the azimuth or positional relationship based on the azimuth or positional relationship shown in the drawings. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
As shown in fig. 1, a hybrid system for an unmanned aerial vehicle according to an embodiment of the present invention includes a power system 1, a power output control system 2, and a signal processing system 3, where the power output control system 2 is connected to the power system 1, the signal processing system 3, and a power supply bus 4 at the same time, and the power system 1 and the signal processing system are connected 3; the power output control system 2 is used for collecting output current and voltage values of the power system 1 and the power supply bus 4, sending data to the signal processing system 3 and controlling the current direction in a circuit; the power system 1 is a power source of the unmanned plane, and the signal processing system 3 is used for processing signals transmitted by the power output control system 2, and making logic judgment to control the power output of the power system 1 by using the signals.
The power system 1 comprises an engine 10, a throttle control mechanism 11, a power generation and starting integrated machine 12 and an AC/DC rectification module 13, wherein one end of the engine 10 is connected with the throttle control mechanism 11, and the other end is connected with the power generation and starting integrated machine 12; one end of the AC/DC rectifying module 13 is connected with the power generation starting integrated machine 12, the other end is connected with the power output control system 2, and the throttle control mechanism 11 is connected with the signal processing system 3. The engine 10 generates mechanical energy by combusting fuel, and the power generation and starting integrated machine 12 is responsible for converting the mechanical energy generated by the engine 10 into electric energy. The AC/DC rectification module 13 mainly converts three-phase electric energy generated by the power generation and starting integrated machine 12 into direct current for the unmanned aerial vehicle; the throttle control mechanism 11 is mainly connected with the signal of the signal processing system 3 to adjust the output power of the engine 10.
The power output control system 2 comprises a DC/DC voltage stabilizing module 20, a power output control module 21, a backup battery pack 22 and a super capacitor pack 23, wherein the input end of the DC/DC voltage stabilizing module 20 is connected with the output end of the AC/DC rectifying module 13, the output end of the DC/DC voltage stabilizing module is connected with the power output control module 21, one end of the power output control module 21 is connected with the signal processing system 3, one end of the power output control module is connected with the AC/DC rectifying module 13, and one end of the power output control module is connected with the power supply bus 4 and the super capacitor pack 23; the backup battery pack 22 is connected with the super capacitor pack 23; the backup battery 22 may be used for starting the engine 10; the super capacitor bank 23 is used for stabilizing the voltage of the system when the power of the unmanned aerial vehicle system suddenly changes; the DC/DC voltage stabilizing module 20 is used to stabilize the direct current output from the AC/DC rectifying module 13 to a target voltage.
The power output control module 21 is composed of a micro-controller and a power management circuit, and is used for collecting the current and voltage values of the power system 1 and the current and voltage values of the power supply bus 4, sending data to the signal processing system 3, controlling the output direction of the current in cooperation with the power management circuit, and receiving the instruction of the signal processing system 3 to control the throttle control mechanism 11 to adjust the output power of the engine 10.
The backup battery 22 is composed of a plurality of lithium batteries and is primarily used for starting the engine 10, and is capable of maintaining a time hover when the over-the-air engine is off and over-the-air starting the engine 10.
The super capacitor group 23 is composed of a plurality of super capacitors and electronic components, and is matched with a control method of the signal processing system 3 and the DC/DC voltage stabilizing module 20 to provide power required by the engine 10 in real time for the engine 10, so that the voltage of the system can be stabilized when the power of the unmanned aerial vehicle system is suddenly changed.
The signal processing system 3 comprises a control module 30 and a communication module 31, wherein one end of the control module 30 is connected with the communication module 31, one end of the control module 30 is connected with the power output control module 21, and one end of the control module is connected with the throttle control mechanism 11, is used for information interaction with the communication module 31 and the power output control system 21, and generates a signal for controlling the throttle control mechanism 11; the communication module 31 is used for performing information interaction with the ground terminal.
As shown in fig. 2, a power supply control method for an unmanned aerial vehicle according to an embodiment of the present invention includes:
when the ground end has no operation instruction, and the unmanned aerial vehicle demand power is stable:
the power output control module 21 collects the voltage signal value of the power supply bus 4 and judges the change of the required voltage;
the power output control module 21 and the super capacitor bank 23 cooperate to perform power output.
When the ground end has an operation instruction, and the unmanned aerial vehicle demand power is stable:
the control module 30 compensates the throttle information of the engine 10 according to the instructions of the ground end, and increases the output power of the engine 10 along with the increase of the required power of the unmanned aerial vehicle;
the power output control module 21 collects the voltage signal value of the power supply bus 4 and judges the change of the required voltage;
the power output control module 21 and the super capacitor bank 23 cooperate to perform power output.
Wherein, the steps are as follows: the power output control module 21 collects the voltage signal value of the power supply bus 4, and the step of judging the change of the required voltage specifically includes the following steps:
the control module 30 can obtain real-time voltage and current states of the power supply bus 4 in real time according to the current value and the voltage value of the power supply bus 4 acquired by the power output control module 21;
the control module 30 can determine whether a signal needs to be sent to control the throttle control mechanism 11 to increase or decrease the output power of the engine 10 according to the collected real-time voltage and current states.
The steps are as follows: the control module 30 compensates the throttle information of the engine 10 according to the instructions of the ground end, and increases the throttle information in the output power of the engine 10 along with the increase of the required power of the unmanned aerial vehicle specifically comprises:
the throttle control mechanism 11 is connected with a throttle, and throttle information sent by the throttle is used for controlling the throttle control mechanism 11, thereby controlling the power output of the engine 10.
The steps are as follows: the control module 30 compensates the throttle information of the engine 10 according to the instructions of the ground end, and increases the output power of the engine 10 along with the increase of the required power of the unmanned aerial vehicle, specifically includes the following steps:
the control module 30 can compensate the signal sent by the control module 30 to the throttle control mechanism 11 by adopting a feedforward control method to the ground-end throttle signal;
when the accelerator signal at the ground end is increased, the control module 30 receives the signal in real time, and sends a signal command to synchronously compensate the throttle control signal when the required power of the unmanned aerial vehicle is increased, so that the power output control module 21 increases the power of the engine 10 in advance before detecting the voltage drop of the power supply bus 4, and the influence caused by the hysteresis of the voltage value and the current value of the power output control module 21 with reference to the power supply bus 4 is reduced.
Specifically, in normal flight, the unmanned aerial vehicle needs stable power, the control module 30 adjusts the power output of the engine 10 according to the voltage variation of the power supply bus 4, and provides stable power output for the power supply bus 4 through the matching of the AC/DC rectifying module 13, the DC/DC voltage stabilizing module 20 and the super capacitor bank 23.
When a trend of an increase in the current value and a decrease in the voltage value of the power supply bus 4 is detected, the control module 30 considers that the unmanned aerial vehicle's work load is increasing and will increase the power output of the engine 10 by controlling the throttle control mechanism 11.
When a trend of rising voltage value of the power supply bus 4 is detected, the control module 30 will reduce the power output of the engine 10 by controlling the throttle control mechanism 11.
In a general control mode, the control module 30 controls the power output of the engine 10 by adjusting the output power of the engine 10 based on the voltage signal value of the power supply bus 4, and when the voltage drop of the power supply bus 4 is detected, there is a delay time for increasing the output power of the engine 10, and at this time, the voltage drop of the power supply bus 4 is rapid, and the command of the ground terminal is delayed.
On the basis of a general control mode, the control module 30 receives the command information of the ground end transmitted by the communication module 31 after the control command is sent by the ground end, compensates the throttle information of the engine 10 while the power demand of the unmanned aerial vehicle increases, increases the power output of the engine 10 before the power output control module 21 detects the voltage drop of the power supply bus 4, reduces the influence caused by the voltage drop caused by hysteresis, and the throttle compensation signal of the engine 10 is calculated based on the ground end control command, the load configuration of the unmanned aerial vehicle and the fitting formula obtained by the experimental data of the engine through multiple experiments.
The specific calculation formula is as follows:
total throttle signal = throttle signal + compensation signal (signal magnitude is understood herein as percent duty cycle),
the accelerator signal follows the voltage signal of the power supply bus 4 in real time and fluctuates along with the voltage signal, when the ground end has no control instruction, the compensation signal is 0, and the value of the total accelerator signal is the accelerator signal.
According to experiments, the unmanned aerial vehicle without compensation signals obtains that the fluctuation range of the duty ratio of the throttle signal is 20% -90% when the hybrid unmanned aerial vehicle moves, the duty ratio of the throttle signal when the unmanned aerial vehicle hovers is about 50%, data are only examples, and the throttle signal changes according to the changes of factors such as a mechanism selected by a throttle valve operating mechanism, initial value setting of the throttle signal, engine model and the like.
Compensation signal = 80% + compensation coefficient +20% + rate of change coefficient,
the compensation coefficient is obtained by further processing a coefficient calculated by a linear relation curve of an accelerator signal and the output power of the engine, the sum of the compensation coefficient and the change rate coefficient is smaller than 40%, the compensation coefficient value changes within a range of 25%, and the compensation coefficient value changes according to the change of the output value of the ground end control instruction; the change rate coefficient value changes within a range of 10 percent and changes according to the change of the change rate of the ground end control command output value.
When the compensation signal participates in the output of the total throttle signal:
total throttle signal = throttle signal +80% + compensation coefficient +20% + rate of change coefficient,
when a ground terminal transmits a control command, the power demand of the unmanned aerial vehicle is increased instantaneously, because the accelerator signal refers to the power supply bus voltage, but the instantaneous bus voltage is not changed greatly, the accelerator signal is changed to be delayed in time, the compensation signal acts at the moment, the compensation coefficient is changed along with the size of the ground terminal signal, the value of the compensation coefficient is increased synchronously with the power demand of the unmanned aerial vehicle, the total accelerator signal value is increased in time, the power output of an engine is increased, meanwhile, the super capacitor group participates in voltage stabilization, the influence caused by the delay of the power output of the engine is reduced, the accelerator signal is increased synchronously after the subsequent power supply bus voltage value is reduced, and the power provided by the super capacitor group is compensated. Meanwhile, the change rate coefficient is changed according to the change rate of the ground end control signal output value, and a compensation signal can be generated according to the change of the unmanned aerial vehicle power demand. According to the hybrid system and the power supply control method for the unmanned aerial vehicle, the power output of the power supply bus can be stabilized, the flight safety is improved, the power adjustment time of the engine can be reduced based on a feedforward control theory, and the output power can be directly supplied to the unmanned aerial vehicle.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (4)
1. A hybrid system for an unmanned aerial vehicle, comprising: the power system comprises a power system (1), a power output control system (2) and a signal processing system (3), wherein the power output control system (2) is connected with the power system (1), the signal processing system (3) and a power supply bus (4) at the same time, and the power system (1) is connected with the signal processing system (3);
the power output control system (2) comprises a power output control module (21) and a super capacitor group (23), the signal processing system (3) comprises a control module (30) and a communication module (31), one end of the output control module (21) is connected with the power supply bus (4) and the super capacitor group (23) at the same time, the other end of the output control module is connected with the control module (30), one end of the control module (30) is connected with the communication module (31), and the other end of the output control module is connected with the power system (1);
the power output control module (21) collects the output current voltage value of the power supply bus (4), data are sent to the control module (30), logic judgment is made after the control module (30) receives signals to control the power output of the power system (1), meanwhile, the communication module (31) receives instructions from the ground end, the communication module (31) sends the instructions from the ground end to the control module (30), and the control module (30) compensates the information of the control power system (1) according to the instructions;
the power output control system (2) further comprises a DC/DC voltage stabilizing module (20), wherein the input end of the DC/DC voltage stabilizing module (20) is connected with the output end of the power system (1), and the output end of the DC/DC voltage stabilizing module is connected with the power output control module (21) and is used for stabilizing the direct-current voltage output by the power system (1) to a target voltage;
the power output control system (2) further comprises a backup battery pack (22), wherein the backup battery pack (22) is connected with the super capacitor pack (23) and is formed by connecting a plurality of lithium batteries in series;
the power system (1) comprises an engine (10), a throttle control mechanism (11), a power generation starting integrated machine (12) and an AC/DC rectification module (13), wherein one end of the engine (10) is connected with the throttle control mechanism (11), and the other end of the engine is connected with the power generation starting integrated machine (12); one end of the AC/DC rectifying module (13) is connected with the power generation starting integrated machine (12), the other end of the AC/DC rectifying module is connected with the DC/DC voltage stabilizing module (20), the AC/DC rectifying module (13) is connected with the power output control module (21), and the throttle control mechanism (11) is connected with the control module (30).
2. A power supply control method for an unmanned aerial vehicle according to claim 1, comprising,
when the ground end has no operation instruction, and the unmanned aerial vehicle demand power is stable:
the power output control module (21) collects voltage signal values of the power supply bus (4) and judges the change of required voltage;
the power output control module (21) and the super capacitor group (23) are matched to output power;
when the ground end has an operation instruction, and the unmanned aerial vehicle demand power is stable:
the control module (30) compensates throttle information of the engine (10) according to the instructions of the ground end, and increases the output power of the engine (10) along with the increase of the required power of the unmanned aerial vehicle;
the power output control module (21) collects voltage signal values of the power supply bus (4) and judges the change of required voltage;
the power output control module (21) and the super capacitor group (23) are matched to output power;
the steps are as follows: the control module (30) compensates throttle information of the engine (10) according to an instruction of the ground end, and increases output power of the engine (10) along with increase of required power of the unmanned aerial vehicle, specifically comprises the following steps:
the control module (30) can compensate the signal sent by the control module (30) to the throttle control mechanism (11) by adopting a feedforward control method to the ground-end throttle signal;
when the throttle signal at the ground end is increased, the control module (30) receives the signal in real time and sends a signal command to synchronously compensate the throttle control signal when the required power of the unmanned aerial vehicle is increased, so that the power output control module (21) increases the power of the engine (10) in advance before detecting the voltage drop of the power supply bus (4), and the influence caused by the voltage value and current value hysteresis of the reference power supply bus (4) of the power output control module (21) is reduced.
3. The power supply control method according to claim 2, wherein,
the steps are as follows: the power output control module (21) collects voltage signal values of the power supply bus (4), and the method specifically comprises the following steps of:
the control module (30) can obtain real-time voltage and current states of the power supply bus (4) in real time according to the current value and the voltage value of the power supply bus (4) acquired by the power output control module (21);
the control module (30) can judge whether a signal is required to be sent to control the throttle control mechanism (11) to increase or decrease the output power of the engine (10) according to the acquired real-time voltage and current states.
4. The power supply control method according to claim 2, characterized in that the throttle control mechanism (11) is connected to a throttle, and throttle information from the throttle is used to control the throttle control mechanism (11) and thus the power output of the engine (10).
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