CN114030620B - Power management method for solar unmanned aerial vehicle - Google Patents
Power management method for solar unmanned aerial vehicle Download PDFInfo
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- CN114030620B CN114030620B CN202111350507.6A CN202111350507A CN114030620B CN 114030620 B CN114030620 B CN 114030620B CN 202111350507 A CN202111350507 A CN 202111350507A CN 114030620 B CN114030620 B CN 114030620B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control; Arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- 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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- 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
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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
- 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
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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
- Y02T50/50—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
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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
- 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
Abstract
The invention provides a solar unmanned aerial vehicle power management method, 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 between the battery voltage and a voltage threshold; 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 unmanned aerial vehicle motor to be the rated current intensity value of the unmanned aerial vehicle motor; if the voltage difference is smaller than 0, calculating a required adjustment current intensity value of the motor according to a preset adjustment threshold value, adjusting the current intensity value output to the motor according to the required adjustment current intensity value, and outputting the current intensity value to the motor of the unmanned aerial vehicle; according to the invention, the solar unmanned aerial vehicle can keep controlling the unmanned aerial vehicle when the power supply of the solar battery is unstable.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle power supply management, in particular to a solar unmanned aerial vehicle power supply management method.
Background
In recent years, solar unmanned aerial vehicles are rapidly developed, the efficiency of solar batteries is continuously improved, but due to the characteristics of the solar batteries, when illumination is weak or equipment power consumption current is large, the output voltage value of a battery plate can be rapidly reduced, so that the electronic equipment on an airplane cannot work normally due to too low voltage, the situation that the unmanned aerial vehicle is not enough in power supply and loses control can occur, and the normal flight of the unmanned aerial vehicle is influenced.
The existing solution is to arrange a secondary battery on a solar aircraft, and make up for the defect of the power generation capacity of the solar battery by utilizing the power supply of the secondary battery, but the secondary battery has heavier weight, so that the weight and the span of the solar aircraft are continuously increased, the miniaturization of the solar aircraft is not facilitated, and the solar aircraft can only be supplemented when the voltage is insufficient and can not be regulated when the voltage is too low.
Disclosure of Invention
The invention provides a solar unmanned aerial vehicle power supply management method, which can ensure that the solar unmanned aerial vehicle can keep controlling the unmanned aerial vehicle when the solar battery is unstable in power supply, and simultaneously, the weight and the span 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 above purpose, the technical scheme of the invention is as follows: the power management system comprises a solar panel arranged 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, wherein the solar panel is electrically connected with the power control system, the power control system is electrically connected with the motor, and the control system is respectively electrically connected with the solar panel and the motor;
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 between the battery voltage and a voltage threshold;
(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 a 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 upwards rounding the absolute value of the quotient through a multiple calculation submodule to obtain an adjusting multiple; obtaining a current intensity value to be regulated according to multiplication of the regulating multiple and a preset regulating base; step (5) is entered;
(4) Adjusting the current intensity of the unmanned aerial vehicle motor to be a rated current intensity value of the unmanned aerial vehicle motor, 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 the following two conditions of stable power supply of the solar cell and unstable power supply of the solar cell panel:
when the power supply of the solar battery is stable, judging that the voltage difference between the battery voltage and a preset voltage threshold is greater than or equal to 0; when the voltage difference is greater than 0, adjusting the current intensity of the unmanned aerial vehicle motor to be the rated current intensity value of the unmanned aerial vehicle motor, so that the motor normally operates under the rated current, and continuously acquiring the battery voltage of the solar battery; when the voltage difference is equal to 0, continuing to acquire the voltage of the solar cell;
when the power supply of the solar battery is unstable, the power supply management system can adjust the current of the motor according to the power supply voltage of the solar battery panel at the current moment, namely, the voltage difference between the battery voltage and a preset voltage threshold is less than 0; at this time, in order to avoid the control system from failing to normally operate due to the fact that the solar battery is too low, under the premise that the control system is guaranteed to normally operate, the current of the motor is reduced, and then the current intensity value required to be reduced by the current adjusting module for calculating the motor is reduced, and according to the calculation result, the current output to the motor is reduced, so that even if the motor fails to normally provide power, the unmanned aerial vehicle is still guaranteed to be in a controllable state, the motor can work with the maximum power under the condition that the solar battery is unstable in power supply and the unmanned aerial vehicle is guaranteed to be controllable, and then the unmanned aerial vehicle can still be controlled to fly out of an insufficient illumination area or land on the unmanned aerial vehicle under the condition that the motor power is insufficient, and therefore the crash caused by insufficient power of the solar unmanned aerial vehicle is avoided, and meanwhile the light weight of the unmanned aerial vehicle is guaranteed.
Further, the power supply control system includes:
the voltage acquisition module is electrically connected with the solar panel on the unmanned aerial vehicle and is used for acquiring the 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 calculating module and is used for adjusting the current intensity value of the unmanned aerial vehicle motor;
the current regulation module includes: the compensation current calculation module is electrically connected with the difference calculation module; the compensation current calculation module is connected with the output submodule.
Further, the compensation current calculation module includes:
the difference judging sub-module is electrically connected with the difference calculating module and is used for judging whether the voltage difference 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 obtaining the quotient of the voltage difference and the adjustment threshold value;
the multiple calculation submodule is electrically connected with the quotient calculation submodule and is used for rounding up the absolute value of the quotient to obtain an adjustment multiple;
the output current calculation sub-module is electrically connected with the multiple calculation sub-module and is used for acquiring the adjustment current intensity value of the unmanned aerial vehicle motor;
the output sub-module is electrically connected with the difference judging sub-module and the output current calculating sub-module and is used for outputting the real-time current intensity value of the unmanned aerial vehicle motor.
Further, the step (5) further comprises the step of taking the difference value between the rated current of the unmanned aerial vehicle motor and the current intensity value required to be regulated as the current intensity value of the unmanned aerial vehicle motor at the current moment; above setting, when illumination intensity is not enough, the power supply of solar cell panel is unstable, and power control system can be according to the power supply voltage of the solar cell panel at present moment to the electric current of motor adjustment, constantly adjusts the current intensity value at present moment of motor according to the power supply voltage of the solar cell panel at present moment for unmanned aerial vehicle is guaranteeing the operation of the biggest power of motor under the circumstances of control system normal operating, and then reduces unmanned aerial vehicle crash's possibility.
Further, the power management system specifically comprises inductors R1, R2 and R3, a plurality of solar panels R4, R5, R7, R8, R9, R10 and R11 which are arranged in series, a singlechip U1 and an output circuit board U2 for controlling the current intensity value of the unmanned aerial vehicle motor; the pin1 interface of the single chip microcomputer U1 is connected with the pin2 structure of the output circuit board U2, the pin5 interface of the single chip microcomputer U1 is connected with the pin1 interface of the output circuit board U2 through an inductor R1, the pin2 interface of the single chip microcomputer U1 is connected with the solar panel R4 through an inductor R3, and the pin2 interface of the single chip microcomputer U1 is connected with the solar panel R11 through an inductor R2; the pin8 interface of the singlechip U1 is connected with the solar panel R4, and the pin8 interface of the singlechip U1 is connected with the pin3 interface of the output circuit board U2; the pin2 interface of the output circuit board U2 is connected to the solar cell panel R11.
Drawings
Fig. 1 is a schematic block diagram of a power control system according to an embodiment of the invention.
Fig. 2 is a flowchart of the working method of the solar unmanned aerial vehicle power management system in the invention.
Fig. 3 is a schematic circuit structure of an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 1-3, the power management method of the 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 panel arranged 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 with the power control system, the power control system is electrically connected with the motor, and the control system is respectively electrically connected with the solar panel and the motor.
The power management method comprises the following steps:
(1) And obtaining 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 a 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 upwards rounding the absolute value of the quotient through a multiple calculation submodule to obtain an adjusting multiple; obtaining a current intensity value to be regulated according to multiplication of the regulating multiple and a preset regulating base; step (5) is entered.
(4) And (3) adjusting the current intensity of the unmanned aerial vehicle motor to be the rated current intensity value of the unmanned aerial vehicle motor, and entering the step (1).
(5) And (3) adjusting the current intensity value output to the motor according to the required current intensity value, outputting the current intensity value to the motor of the unmanned aerial vehicle, and entering the step (1).
The method comprises the following two conditions of stable power supply of the solar cell and unstable power supply of the solar cell panel:
when the power supply of the solar battery is stable, judging that the voltage difference between the battery voltage and a preset voltage threshold is greater than or equal to 0; when the voltage difference is greater than 0, adjusting the current intensity of the unmanned aerial vehicle motor to be the rated current intensity value of the unmanned aerial vehicle motor, so that the motor normally operates under the rated current, and continuously acquiring the battery voltage of the solar battery; when the voltage difference is equal to 0, the solar cell voltage is continuously acquired.
When the power supply of the solar battery is unstable, the power supply management system can adjust the current of the motor according to the power supply voltage of the solar battery panel at the current moment, namely, the voltage difference between the battery voltage and a preset voltage threshold is less than 0; at this time, in order to avoid the control system from failing to normally operate due to the fact that the solar battery is too low, under the premise that the control system is guaranteed to normally operate, the current of the motor is reduced, and then the current intensity value required to be reduced by the current adjusting module for calculating the motor is reduced, and according to the calculation result, the current output to the motor is reduced, so that even if the motor fails to normally provide power, the unmanned aerial vehicle is still guaranteed to be in a controllable state, the motor can work with the maximum power under the condition that the solar battery is unstable in power supply and the unmanned aerial vehicle is guaranteed to be controllable, and then the unmanned aerial vehicle can still be controlled to fly out of an insufficient illumination area or land on the unmanned aerial vehicle under the condition that the motor power is insufficient, and therefore the crash caused by insufficient power of the solar unmanned aerial vehicle is avoided, and meanwhile the light weight of the unmanned aerial vehicle is guaranteed.
The power control system includes:
the voltage acquisition module is electrically connected with the solar cell panel on the unmanned aerial vehicle and is used for acquiring the real-time battery voltage of the solar cell 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 the voltage threshold value.
The current adjusting module is electrically connected with the difference calculating module and used for adjusting the current intensity value of the unmanned aerial vehicle motor.
The current regulation module includes: the compensation current calculation module is electrically connected with the difference calculation module; the compensation current calculation module is connected with the output submodule.
The compensation current calculation module includes:
the difference judging sub-module is electrically connected with the difference calculating module and is used for judging whether the voltage difference is greater than or equal to 0.
The quotient value calculating submodule is electrically connected with the difference value calculating module and the difference value judging submodule and is used for obtaining the quotient value of the voltage difference value and the adjustment threshold value.
And the multiple calculation submodule is electrically connected with the quotient calculation submodule and is used for rounding up the absolute value of the quotient to obtain the adjustment multiple.
And the output current calculation sub-module is electrically connected with the multiple calculation sub-module and is used for acquiring the regulating current intensity value of the unmanned aerial vehicle motor.
The output sub-module is electrically connected with the difference judging sub-module and the output current calculating sub-module and is used for outputting the real-time current intensity value of the unmanned aerial vehicle motor.
As shown in fig. 3, a circuit structure diagram of a solar unmanned aerial vehicle power management system in the implementation process of the embodiment is shown, wherein R1, R2 and R3 are inductors, R4, R5, R7, R8, R9, R10 and R11 are solar panels, U1 is a single chip microcomputer, U2 is an output circuit board, the solar unmanned aerial vehicle power management system is mounted on the single chip microcomputer U1, and U2 is the output circuit board and is connected with an unmanned aerial vehicle motor to control a current intensity value of the unmanned aerial vehicle motor; the solar cell panels R4, R5, R7, R8, R9, R10 and R11 are sequentially connected in series, the pin1 interface of the single chip microcomputer U1 is connected with the pin2 structure of the output circuit board U2, the pin5 interface of the single chip microcomputer U1 is connected with the pin1 interface of the output circuit board U2 through the inductor R1 before, the pin2 interface of the single chip microcomputer U1 is connected with the solar cell panel R4 through the inductor R3, and the pin2 interface of the single chip microcomputer U1 is connected with the solar cell panel R11 through the inductor R2; the pin8 interface of the singlechip U1 is connected with the solar panel R4, and the pin8 interface of the singlechip U1 is connected with the pin3 interface of the output circuit board U2; the 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.
Above setting, solar cell panel R4, R5, R7, R8, R9, R10 and R11 establish ties in proper order and output current, and the current gets into inductance R3 respectively, singlechip U1's pin8 mouth and output circuit board's pin3 mouth, and after the electric current passed through inductance R3, get into singlechip U1's pin2 mouth respectively and flow to solar cell panel through inductance R2, and singlechip's pin1 mouth output signal gets into output circuit board U2's pin1 mouth.
The singlechip is according to the battery voltage of current moment solar cell panel output, judge the voltage difference between current moment battery voltage and the voltage threshold value, then singlechip U1 is according to voltage difference follow pin5 mouthful output electric signal, the pin1 mouth of output circuit board is got into through inductance R1, the pin3 mouth of output circuit board U2 is according to the signal that obtains from singlechip U1 after outputting the electric current after adjusting, like this, can guarantee that solar cell panel provides sufficient electric current for the singlechip maintains the operation, and then the singlechip is according to current voltage of solar cell panel and adjust the electric current for unmanned aerial vehicle is in controllable state all the time.
Since each of the solar panels R4, R5, R7, R8, R9, R10, and R11 is a solar panel of 0.5V, the voltage threshold value is set to 4V in advance, the adjustment threshold value is set to 0.2V in advance, and the adjustment base value is set to 50mA in advance.
And if the solar illumination intensity is enough at a certain moment, the acquired battery voltage is 4.0V, and the current intensity value of the unmanned aerial vehicle motor is adjusted to be the rated current intensity value of the unmanned aerial vehicle motor.
If the solar illumination intensity is weaker at a certain moment, the obtained battery voltage is 3.7V; the voltage difference is 3.7-4= -0.3V, the upward rounding with the adjustment multiple of (0.3/0.2) is further obtained, namely the adjustment multiple is 2, the adjustment current intensity value is calculated to be 50×2=100 mA, and the difference obtained by subtracting 100mA from the rated current intensity value of the unmanned aerial vehicle motor is used as the current intensity value at the current moment of the unmanned aerial vehicle motor.
If the solar illumination intensity is further weakened at a certain moment, the obtained battery voltage is 3.1V; the voltage difference is 3.1-4= -0.9V, the upward rounding with the adjustment multiple of (0.9/0.2) is further obtained, namely the adjustment multiple is 5, the adjustment current intensity value is calculated to be 50×5=250 mA, and the difference obtained by subtracting 250mA from the rated current intensity value of the unmanned aerial vehicle motor is used as the current intensity value at the current moment of the unmanned aerial vehicle motor.
If the solar illumination intensity is enhanced at a certain moment, but the solar illumination intensity is still insufficient, the obtained battery voltage is 3.8V; the voltage difference is 3.8-4= -0.2V, the upward rounding with the adjustment multiple of (0.2/0.2) is further obtained, namely the adjustment multiple is 1, the adjustment current intensity value is calculated to be 50 multiplied by 1 = 50mA, and the difference obtained by subtracting 50mA from the rated current intensity value of the unmanned aerial vehicle motor is used as the current intensity value at the current moment of the unmanned aerial vehicle motor; therefore, under the condition that the solar illumination intensity is insufficient, the condition that the solar illumination is possibly changed continuously can occur, and through the method, the power of the unmanned aerial vehicle motor can be continuously optimized according to the battery voltage of the current solar panel, so that the unmanned aerial vehicle is constantly at the maximum working power under the condition that the solar panel is insufficient in power supply.
Claims (5)
1. A solar unmanned aerial vehicle power management method is characterized in that: 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 panel arranged 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 with the power control system, the power control system is electrically connected with the motor, and the control system is respectively electrically connected with the solar panel and the motor;
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 between the battery voltage and a voltage threshold;
(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 a 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 upwards rounding the absolute value of the quotient through a multiple calculation submodule to obtain an adjusting multiple; obtaining a current intensity value to be regulated according to multiplication of the regulating multiple and a preset regulating base; step (5) is entered; (4) Adjusting the current intensity of the unmanned aerial vehicle motor to be a rated current intensity value of the unmanned aerial vehicle motor, and entering the step (1);
(5) According to the current intensity value to be adjusted, the current intensity value to be output to the motor is adjusted and is output to the unmanned aerial vehicle, even if the motor cannot normally provide power, the unmanned aerial vehicle is still in a controllable state, so that the motor can work with maximum power under the condition that the solar battery is unstable in power supply and the unmanned aerial vehicle is controllable, and then the unmanned aerial vehicle can still be controlled to fly out of an illumination insufficient area or land the unmanned aerial vehicle under the condition that the motor power is insufficient, and therefore crash caused by insufficient power of the solar unmanned aerial vehicle is avoided, meanwhile, the weight of the unmanned aerial vehicle is guaranteed, and step (1) is entered.
2. The solar unmanned aerial vehicle power management method of claim 1, wherein: the power control system includes:
the voltage acquisition module is electrically connected with the solar panel on the unmanned aerial vehicle and is used for acquiring the 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 calculating module and is used for adjusting the current intensity value of the unmanned aerial vehicle motor;
the current regulation module includes: the compensation current calculation module is electrically connected with the difference calculation module; the compensation current calculation module is connected with the output submodule.
3. The solar unmanned aerial vehicle power management method of claim 2, wherein: the compensation current calculation module includes:
the difference judging sub-module is electrically connected with the difference calculating module and is used for judging whether the voltage difference 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 obtaining the quotient of the voltage difference and the adjustment threshold value;
the multiple calculation submodule is electrically connected with the quotient calculation submodule and is used for rounding up the absolute value of the quotient to obtain an adjustment multiple;
the output current calculation sub-module is electrically connected with the multiple calculation sub-module and is used for acquiring the adjustment current intensity value of the unmanned aerial vehicle motor;
the output sub-module is electrically connected with the difference judging sub-module and the output current calculating sub-module and is used for outputting the real-time current intensity value of the unmanned aerial vehicle motor.
4. The solar unmanned aerial vehicle power management method of claim 1, wherein: the step (5) further comprises the step of taking the difference value between the rated current of the unmanned aerial vehicle motor and the current intensity value required to be regulated as the current intensity value of the unmanned aerial vehicle motor at the current moment.
5. The solar unmanned aerial vehicle power management method of claim 1, wherein: the power management system specifically comprises inductors R1, R2 and R3, a plurality of solar panels R4, R5, R7, R8, R9, R10 and R11 which are arranged in series, a singlechip U1 and an output circuit board U2 for controlling the current intensity value of the unmanned aerial vehicle motor; the pin1 interface of the single chip microcomputer U1 is connected with the pin2 structure of the output circuit board U2, the pin5 interface of the single chip microcomputer U1 is connected with the pin1 interface of the output circuit board U2 through an inductor R1, the pin2 interface of the single chip microcomputer U1 is connected with the solar panel R4 through an inductor R3, and the pin2 interface of the single chip microcomputer U1 is connected with the solar panel R11 through an inductor R2; the pin8 interface of the singlechip U1 is connected with the solar panel R4, and the pin8 interface of the singlechip U1 is connected with the pin3 interface of the output circuit board U2; the pin2 interface of the output circuit board U2 is connected to the solar cell panel R11.
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