CN114030620A - Solar unmanned aerial vehicle power supply management method - Google Patents

Solar unmanned aerial vehicle power supply management method Download PDF

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Publication number
CN114030620A
CN114030620A CN202111350507.6A CN202111350507A CN114030620A CN 114030620 A CN114030620 A CN 114030620A CN 202111350507 A CN202111350507 A CN 202111350507A CN 114030620 A CN114030620 A CN 114030620A
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aerial vehicle
unmanned aerial
value
motor
voltage
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CN114030620B (en
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唐毅
蔡吉旺
谢志明
刘肩山
司维钊
王怀超
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Changsha Aeronautical Vocational and Technical College
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Changsha Aeronautical Vocational and Technical College
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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
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/50—Charging stations characterised by energy-storage or power-generation means
    • B60L53/51—Photovoltaic means
    • 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
    • B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
    • 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
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02T50/50—On board measures aiming to increase energy efficiency
    • 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
    • Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Electrical Variables (AREA)

Abstract

The invention provides a power management method of a solar unmanned aerial vehicle, which comprises the following steps: acquiring the battery voltage of the solar panel under the illumination intensity at the current moment; acquiring a voltage difference value between the battery voltage and a voltage threshold value; judging whether the voltage difference between the battery voltage and the voltage threshold is greater than 0; if the voltage difference value is greater than or equal to 0, adjusting the current intensity of the motor of the unmanned aerial vehicle to be the rated current intensity value of the motor of the unmanned aerial vehicle; if the voltage difference value is smaller than 0, calculating an adjusting current intensity value required by the motor according to a preset adjusting threshold value, adjusting the current intensity value output to the motor according to the adjusting current intensity value required, and outputting the current intensity value to the motor of the unmanned aerial vehicle; the invention can ensure that the solar unmanned aerial vehicle can keep controlling the unmanned aerial vehicle when the power supply of the solar cell is unstable.

Description

Solar unmanned aerial vehicle power supply management method
Technical Field
The invention relates to the technical field of unmanned aerial vehicle power supply management, in particular to a power supply management method for a solar unmanned aerial vehicle.
Background
In recent years, solar unmanned aerial vehicle has obtained rapid development, and solar cell's efficiency constantly promotes, nevertheless because solar cell's characteristic leads to, and when illumination is weak or equipment power consumption electric current is big, the output voltage value of panel can reduce rapidly, leads to the electronic equipment voltage on the aircraft to hang down and unable normal work, can appear the not enough circumstances that loses control of unmanned aerial vehicle power supply, has influenced unmanned aerial vehicle's normal flight.
The existing solution is to arrange a secondary battery on the solar aircraft, and to use the power supply of the secondary battery to make up for the deficiency of the power generation capacity of the solar battery, but the secondary battery has a heavy weight, so that the weight and the wingspan of the solar aircraft are increased continuously, which is not beneficial to the miniaturization of the solar aircraft, and the secondary battery can only be supplemented when the voltage is insufficient, and cannot be adjusted when the voltage is too low.
Disclosure of Invention
The invention provides a power management method of a solar unmanned aerial vehicle, which can keep the control of the solar unmanned aerial vehicle when the power supply of a solar battery is unstable, and meanwhile, the weight and the wingspan of the solar unmanned aerial vehicle are greatly reduced, thereby being beneficial to the miniaturization of the solar unmanned aerial vehicle.
In order to achieve the purpose, the technical scheme of the invention is as follows: a power management method of a solar unmanned aerial vehicle comprises the unmanned aerial vehicle and a power management system arranged on the unmanned aerial vehicle, wherein the power management system comprises a solar cell panel arranged on the unmanned aerial vehicle, a motor used for driving the unmanned aerial vehicle to fly, a control system used for controlling the unmanned aerial vehicle and a power control system;
the power management method comprises the following steps:
(1) acquiring the battery voltage of the solar panel under the illumination intensity at the current moment;
(2) acquiring a voltage difference value between the battery voltage and a voltage threshold value;
(3) judging a voltage difference value between the battery voltage and a voltage threshold value, and if the voltage difference value is greater than or equal to 0, entering the step (4); if the voltage difference is smaller than 0, acquiring a quotient of the voltage difference and a preset adjusting threshold value through a quotient calculation submodule, and then rounding up an absolute value of the quotient through a multiple calculation submodule to obtain an adjusting multiple; multiplying the adjustment multiple by a preset adjustment base number to obtain a current intensity value to be adjusted; entering the step (5);
(4) adjusting the current intensity of the motor of the unmanned aerial vehicle to be the rated current intensity value of the motor of the unmanned aerial vehicle, and entering the step (1);
(5) adjusting the current intensity value output to the motor according to the current intensity value required to be adjusted, outputting the current intensity value to the motor of the unmanned aerial vehicle, and entering the step (1);
the method comprises two conditions of stable power supply of the solar battery and unstable power supply of the solar battery panel:
when the power supply of the solar battery is stable, the voltage difference value between the battery voltage and a preset voltage threshold value is judged to be greater than or equal to 0; when the voltage difference value is larger than 0, adjusting the current intensity of the motor of the unmanned aerial vehicle to be the rated current intensity value of the motor of the unmanned aerial vehicle, so that the motor normally operates under the rated current, and the battery voltage of the solar battery is continuously obtained; when the voltage difference value is equal to 0, continuously acquiring the voltage of the solar cell;
when the power supply of the solar cell is unstable, the power management system can adjust the current of the motor according to the power voltage of the solar cell panel at the current moment, namely, the voltage difference value between the battery voltage and a preset voltage threshold is judged to be less than 0; in order to avoid leading to the unable normal function of control system because solar cell crosses lowly this moment, under the prerequisite of guaranteeing control system normal work, reduce the electric current of motor, and then the electric current intensity value that the electric current regulation module calculation motor needs to reduce, and according to the calculation result, reduce the electric current of exporting the motor, thus, even the motor can't normally provide power, nevertheless guarantee that unmanned aerial vehicle still is in controllable state, make the motor can be under the unstable condition of solar cell power supply and guarantee that unmanned aerial vehicle is controllable under the prerequisite maximum power work, and then make unmanned aerial vehicle under the condition that motor power is not enough, still can control unmanned aerial vehicle to fly out the not enough region of illumination or descend unmanned aerial vehicle, thereby avoid the not enough crash that leads to of solar energy unmanned aerial vehicle power, guarantee unmanned aerial vehicle's lightweight simultaneously.
Further, the power supply control system includes:
the voltage acquisition module is electrically connected with a solar panel on the unmanned aerial vehicle and used for acquiring real-time battery voltage of the solar panel on the unmanned aerial vehicle;
the difference value calculation module is electrically connected with the voltage acquisition module and is used for acquiring a voltage difference value between the battery voltage and a voltage threshold value;
the current adjusting module is electrically connected with the difference value calculating module and used for adjusting the current intensity value of the motor of the unmanned aerial vehicle;
the current regulation module includes: the compensation current calculation module is electrically connected with the difference value calculation module; and the compensation current calculation module is connected with the output submodule.
Further, the compensation current calculation module includes:
the difference value judgment submodule is electrically connected with the difference value calculation module and used for judging whether the voltage difference value is greater than or equal to 0;
the quotient calculation submodule is electrically connected with the difference calculation module and the difference judgment submodule and is used for acquiring a quotient of the voltage difference and the adjustment threshold;
the multiple calculation submodule is electrically connected with the quotient value calculation submodule and used for rounding up the absolute value of the quotient value to obtain an adjustment multiple;
the output current calculation submodule is electrically connected with the multiple calculation submodule and used for acquiring the adjusting current intensity value of the motor of the unmanned aerial vehicle;
and the output submodule is electrically connected with the difference judgment submodule and the output current calculation submodule and is used for outputting the real-time current intensity value of the motor of the unmanned aerial vehicle.
Further, the step (5) further comprises the step of taking a difference value between a rated current of the motor of the unmanned aerial vehicle and a current intensity value required to be adjusted as a current intensity value of the motor of the unmanned aerial vehicle at the current moment; above setting, when illumination intensity is not enough, when solar cell panel's power supply is unstable, power control system can adjust the electric current of motor according to solar cell panel's the mains voltage of present moment, constantly according to solar cell panel's the mains voltage of present moment, adjusts the current strength value of motor present moment for unmanned aerial vehicle is guaranteeing motor maximum power work under the circumstances of control system normal work, and then reduces the possibility that unmanned aerial vehicle crashed.
Further, the power management system specifically comprises inductors R1, R2 and R3, a plurality of solar panels R4, R5, R5, R7, R8, R9, R10 and R11 which are arranged in series, a single chip microcomputer U1 and an output circuit board U2 used for controlling the current intensity value of the motor of the unmanned aerial vehicle; a pin1 interface of the single chip microcomputer U1 is structurally connected with a pin2 of the output circuit board U2, a pin5 interface of the single chip microcomputer U1 is connected with a pin1 interface of the output circuit board U2 through an inductor R1, a pin2 interface of the single chip microcomputer U1 is connected with the solar panel R4 through an inductor R3, and a pin2 interface of the single chip microcomputer U1 is connected with the solar panel R11 through an inductor R2; a pin8 interface of the singlechip U1 is connected with the solar panel R4, and a pin8 interface of the singlechip U1 is connected with a pin3 interface of the output circuit board U2; the pin2 interface of the output circuit board U2 is connected to the solar panel R11.
Drawings
Fig. 1 is a block diagram of a power control system according to an embodiment of the present invention.
Fig. 2 is a flow chart of a working method of the solar unmanned aerial vehicle power management system according to the present invention.
Fig. 3 is a schematic circuit diagram according to an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-3, a power management method for a solar unmanned aerial vehicle includes an unmanned aerial vehicle and a power management system disposed on the unmanned aerial vehicle, where the power management system includes a solar panel disposed on the unmanned aerial vehicle, a motor for driving the unmanned aerial vehicle to fly, a control system for controlling the unmanned aerial vehicle, and a power control system, the solar panel is electrically connected to the power control system, the power control system is electrically connected to the motor, and the control system is respectively electrically connected to the solar panel and the motor.
The power management method comprises the following steps:
(1) and acquiring the battery voltage of the solar panel under the illumination intensity at the current moment.
(2) A voltage difference between the battery voltage and a voltage threshold is obtained.
(3) Judging a voltage difference value between the battery voltage and a voltage threshold value, and if the voltage difference value is greater than or equal to 0, entering the step (4); if the voltage difference is smaller than 0, acquiring a quotient of the voltage difference and a preset adjusting threshold value through a quotient calculation submodule, and then rounding up an absolute value of the quotient through a multiple calculation submodule to obtain an adjusting multiple; multiplying the adjustment multiple by a preset adjustment base number to obtain a current intensity value to be adjusted; proceed to step (5).
(4) And (4) adjusting the current intensity of the motor of the unmanned aerial vehicle to be the rated current intensity value of the motor of the unmanned aerial vehicle, and entering the step (1).
(5) And (4) adjusting the current intensity value output to the motor according to the current intensity value required to be adjusted, outputting to the motor of the unmanned aerial vehicle, and entering the step (1).
The method comprises two conditions of stable power supply of the solar battery and unstable power supply of the solar battery panel:
when the power supply of the solar battery is stable, the voltage difference value between the battery voltage and a preset voltage threshold value is judged to be greater than or equal to 0; when the voltage difference value is larger than 0, adjusting the current intensity of the motor of the unmanned aerial vehicle to be the rated current intensity value of the motor of the unmanned aerial vehicle, so that the motor normally operates under the rated current, and the battery voltage of the solar battery is continuously obtained; when the voltage difference is equal to 0, the solar cell voltage is continuously acquired.
When the power supply of the solar cell is unstable, the power management system can adjust the current of the motor according to the power voltage of the solar cell panel at the current moment, namely, the voltage difference value between the battery voltage and a preset voltage threshold is judged to be less than 0; in order to avoid leading to the unable normal function of control system because solar cell crosses lowly this moment, under the prerequisite of guaranteeing control system normal work, reduce the electric current of motor, and then the electric current intensity value that the electric current regulation module calculation motor needs to reduce, and according to the calculation result, reduce the electric current of exporting the motor, thus, even the motor can't normally provide power, nevertheless guarantee that unmanned aerial vehicle still is in controllable state, make the motor can be under the unstable condition of solar cell power supply and guarantee that unmanned aerial vehicle is controllable under the prerequisite maximum power work, and then make unmanned aerial vehicle under the condition that motor power is not enough, still can control unmanned aerial vehicle to fly out the not enough region of illumination or descend unmanned aerial vehicle, thereby avoid the not enough crash that leads to of solar energy unmanned aerial vehicle power, guarantee unmanned aerial vehicle's lightweight simultaneously.
The power supply control system includes:
the voltage acquisition module is electrically connected with a solar panel on the unmanned aerial vehicle and used for acquiring real-time battery voltage of the solar panel on the unmanned aerial vehicle.
And the difference value calculating module is electrically connected with the voltage acquiring module and is used for acquiring a voltage difference value between the battery voltage and the voltage threshold value.
The current adjusting module is electrically connected with the difference value calculating module and used for adjusting the current intensity value of the motor of the unmanned aerial vehicle.
The current regulation module includes: the compensation current calculation module is electrically connected with the difference value calculation module; and the compensation current calculation module is connected with the output submodule.
The compensation current calculation module includes:
and the difference value judgment submodule is electrically connected with the difference value calculation module and is used for judging whether the voltage difference value is greater than or equal to 0.
And the quotient calculation submodule is electrically connected with the difference calculation module and the difference judgment submodule and is used for acquiring the quotient of the voltage difference and the adjustment threshold.
And the multiple calculation submodule is electrically connected with the quotient value calculation submodule and is used for rounding up the absolute value of the quotient value to obtain the adjustment multiple.
The output current calculation submodule is electrically connected with the multiple calculation submodule and used for obtaining the adjusting current intensity value of the motor of the unmanned aerial vehicle.
And the output submodule is electrically connected with the difference judgment submodule and the output current calculation submodule and is used for outputting the real-time current intensity value of the motor of the unmanned aerial vehicle.
As shown in fig. 3, the circuit structure diagram in the implementation process of the solar unmanned aerial vehicle power management system in this embodiment is shown, where R1, R2, and R3 are inductors, R4, R5, R5, R7, R8, R9, R10, and R11 are solar panels, U1 is a single chip microcomputer, and U2 is an output circuit board, where the solar unmanned aerial vehicle power management system is mounted on the single chip microcomputer U1, and U2 is a current intensity value of the output circuit board connected to the unmanned aerial vehicle motor to control the unmanned aerial vehicle motor; the solar cell panel R4, R5, R5, R7, R8, R9, R10 and R11 are sequentially connected in series, a pin1 interface of the single chip microcomputer U1 is connected with a pin2 structure of the output circuit board U2, a pin5 interface of the single chip microcomputer U1 is connected with a pin1 interface of the output circuit board U2 through an inductor R1 before the pin5 interface, a pin2 interface of the single chip microcomputer U1 is connected with the solar cell panel R4 through an inductor R3, and a pin2 interface of the single chip microcomputer U1 is connected with the solar cell panel R11 through an inductor R2; a pin8 interface of the singlechip U1 is connected with the solar panel R4, and a pin8 interface of the singlechip U1 is connected with a pin3 interface of the output circuit board U2; a pin2 interface of the output circuit board U2 is connected with the solar panel R11; the model of the singlechip U1 is AT89C51, and the model of the output circuit board U2 is PCB-7.
Through the arrangement, the solar cell panels R4, R5, R5, R7, R8, R9, R10 and R11 are sequentially connected in series and output current, the current respectively enters the inductor R3, the pin8 port of the single chip microcomputer U1 and the pin3 port of the output circuit board, the current respectively enters the pin2 port of the single chip microcomputer U1 and flows to the solar cell panel through the inductor R2 after passing through the inductor R3, and the pin1 port of the single chip microcomputer outputs signals to the pin1 port of the output circuit board U2.
The singlechip is according to the battery voltage of present moment solar cell panel output, judge the voltage difference between present moment battery voltage and the voltage threshold, singlechip U1 follows pin5 mouthful output signal of telecommunication according to the voltage difference, through inductance R1 get into the pin1 mouth of output circuit board, the current after the regulation is exported according to the signal of obtaining from singlechip U1 to the pin3 mouth of output circuit board U2 afterwards, thus, can guarantee that solar cell panel provides sufficient electric current and maintain the function for the singlechip, and then the singlechip can adjust the electric current according to solar cell panel current voltage, make unmanned aerial vehicle be in controllable state all the time.
Since the solar cell panels R4, R5, R5, R7, R8, R9, R10, and R11 are all 0.5V, the preset voltage threshold is 4V, the preset adjustment threshold is 0.2V, and the preset adjustment base is 50 mA.
If the sunlight illumination intensity is enough at a certain moment, and the acquired battery voltage is 4.0V, the current intensity value of the motor of the unmanned aerial vehicle is adjusted to be the rated current intensity value of the motor of the unmanned aerial vehicle.
If the solar illumination intensity at a certain moment is weak, the acquired battery voltage is 3.7V; the voltage difference value is 3.7-4= -0.3V, upward rounding of the adjustment multiple (0.3/0.2) is further obtained, namely the adjustment multiple is 2, the adjusted current intensity value is calculated to be 50 × 2=100mA, and then the difference value obtained by subtracting 100mA from the rated current intensity value of the motor of the unmanned aerial vehicle is used as the current intensity value of the motor of the unmanned aerial vehicle at the current moment.
If the solar illumination intensity is further weakened at a certain moment, the obtained battery voltage is 3.1V; the voltage difference value is 3.1-4= -0.9V, upward rounding of the adjustment multiple (0.9/0.2) is further obtained, namely the adjustment multiple is 5, the adjusted current intensity value is calculated to be 50 × 5=250mA, and then the difference value obtained by subtracting 250mA from the rated current intensity value of the unmanned aerial vehicle motor is used as the current intensity value of the unmanned aerial vehicle motor at the current moment.
If the sunlight intensity is increased at a certain moment but the sunlight intensity is still insufficient, the acquired battery voltage is 3.8V; the voltage difference value is 3.8-4= -0.2V, upward rounding of the adjustment multiple (0.2/0.2) is further obtained, namely the adjustment multiple is 1, the adjusted current intensity value is calculated to be 50 × 1=50mA, and the difference value obtained by subtracting 50mA from the rated current intensity value of the motor of the unmanned aerial vehicle is used as the current intensity value of the motor of the unmanned aerial vehicle at the current moment; like this, under the not enough condition of solar illumination intensity, the constantly changing condition may appear in solar illumination, through above-mentioned method, can constantly optimize the power of unmanned aerial vehicle motor according to current solar cell panel's battery voltage for unmanned aerial vehicle is in maximum operating power constantly under the not enough condition of solar cell panel power supply.

Claims (5)

1. A power management method for a solar unmanned aerial vehicle is characterized by comprising the following steps: the unmanned aerial vehicle comprises an unmanned aerial vehicle and a power management system arranged on the unmanned aerial vehicle, wherein the power management system comprises a solar cell panel arranged on the unmanned aerial vehicle, a motor used for driving the unmanned aerial vehicle to fly, a control system used for controlling the unmanned aerial vehicle and a power control system;
the power management method comprises the following steps:
(1) acquiring the battery voltage of the solar panel under the illumination intensity at the current moment;
(2) acquiring a voltage difference value between the battery voltage and a voltage threshold value;
(3) judging a voltage difference value between the battery voltage and a voltage threshold value, and if the voltage difference value is greater than or equal to 0, entering the step (4); if the voltage difference is smaller than 0, acquiring a quotient of the voltage difference and a preset adjusting threshold value through a quotient calculation submodule, and then rounding up an absolute value of the quotient through a multiple calculation submodule to obtain an adjusting multiple; multiplying the adjustment multiple by a preset adjustment base number to obtain a current intensity value to be adjusted; entering the step (5); (4) adjusting the current intensity of the motor of the unmanned aerial vehicle to be the rated current intensity value of the motor of the unmanned aerial vehicle, and entering the step (1);
(5) and (4) adjusting the current intensity value output to the motor according to the current intensity value required to be adjusted, outputting to the motor of the unmanned aerial vehicle, and entering the step (1).
2. The power management method of the solar unmanned aerial vehicle according to claim 1, wherein: the power supply control system includes:
the voltage acquisition module is electrically connected with a solar panel on the unmanned aerial vehicle and used for acquiring real-time battery voltage of the solar panel on the unmanned aerial vehicle;
the difference value calculation module is electrically connected with the voltage acquisition module and is used for acquiring a voltage difference value between the battery voltage and a voltage threshold value;
the current adjusting module is electrically connected with the difference value calculating module and used for adjusting the current intensity value of the motor of the unmanned aerial vehicle;
the current regulation module includes: the compensation current calculation module is electrically connected with the difference value calculation module; and the compensation current calculation module is connected with the output submodule.
3. The power management method of the solar unmanned aerial vehicle as claimed in claim 2, wherein: the compensation current calculation module includes:
the difference value judgment submodule is electrically connected with the difference value calculation module and used for judging whether the voltage difference value is greater than or equal to 0;
the quotient calculation submodule is electrically connected with the difference calculation module and the difference judgment submodule and is used for acquiring a quotient of the voltage difference and the adjustment threshold;
the multiple calculation submodule is electrically connected with the quotient value calculation submodule and used for rounding up the absolute value of the quotient value to obtain an adjustment multiple;
the output current calculation submodule is electrically connected with the multiple calculation submodule and used for acquiring the adjusting current intensity value of the motor of the unmanned aerial vehicle;
and the output submodule is electrically connected with the difference judgment submodule and the output current calculation submodule and is used for outputting the real-time current intensity value of the motor of the unmanned aerial vehicle.
4. The power management method of the solar unmanned aerial vehicle according to claim 1, wherein: and (5) taking the difference value between the rated current of the motor of the unmanned aerial vehicle and the current intensity value required to be adjusted as the current intensity value of the motor of the unmanned aerial vehicle at the current moment.
5. The power management method of the solar unmanned aerial vehicle according to claim 1, wherein: the power management system specifically comprises inductors R1, R2 and R3, a plurality of solar panels R4, R5, R5, R7, R8, R9, R10 and R11 which are arranged in series, a single chip microcomputer U1 and an output circuit board U2 used for controlling the current intensity value of the motor of the unmanned aerial vehicle; a pin1 interface of the single chip microcomputer U1 is structurally connected with a pin2 of the output circuit board U2, a pin5 interface of the single chip microcomputer U1 is connected with a pin1 interface of the output circuit board U2 through an inductor R1, a pin2 interface of the single chip microcomputer U1 is connected with the solar panel R4 through an inductor R3, and a pin2 interface of the single chip microcomputer U1 is connected with the solar panel R11 through an inductor R2; a pin8 interface of the singlechip U1 is connected with the solar panel R4, and a pin8 interface of the singlechip U1 is connected with a pin3 interface of the output circuit board U2; the pin2 interface of the output circuit board U2 is connected to the solar panel R11.
CN202111350507.6A 2021-11-15 2021-11-15 Power management method for solar unmanned aerial vehicle Active CN114030620B (en)

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