CN115416857B - Unmanned aerial vehicle system with bidirectional power supply motor controller and electric energy control method thereof - Google Patents
Unmanned aerial vehicle system with bidirectional power supply motor controller and electric energy control method thereof Download PDFInfo
- Publication number
- CN115416857B CN115416857B CN202211367205.4A CN202211367205A CN115416857B CN 115416857 B CN115416857 B CN 115416857B CN 202211367205 A CN202211367205 A CN 202211367205A CN 115416857 B CN115416857 B CN 115416857B
- Authority
- CN
- China
- Prior art keywords
- power supply
- unmanned aerial
- aerial vehicle
- motor controller
- bidirectional
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
Abstract
The invention provides an unmanned aerial vehicle system with a bidirectional power supply motor controller and an electric energy control method thereof, wherein the unmanned aerial vehicle system comprises: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a power supply and a motor controller; the bidirectional power supply motor controller has two designs, the first is a high-power bidirectional DCDC power supply matched with a plurality of universal electric adjusting circuits, and the second is a low-power bidirectional DCDC power supply matched with a universal electric adjusting circuit. The power output power required by the unmanned aerial vehicle is selected according to different power output powers, the bidirectional power supply motor controller with the first design is selected when the power is larger than the preset power, and the bidirectional power supply motor controller with the second design is selected when the power is smaller than or equal to the preset power. The invention solves the problems that the power supply is damaged by overcurrent due to the occurrence of large current at the moment of electrifying the unmanned aerial vehicle, the power supply is protected due to the change of the energy of the motor in the flight of the unmanned aerial vehicle, the unmanned aerial vehicle is out of control and the like.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle system with a bidirectional power supply motor controller and an electric energy control method thereof.
Background
Unmanned aerial vehicles generally adopt an electric tuning circuit to realize the rotation speed control of the motor of the unmanned aerial vehicle. However, the power-regulating circuit has several problems, one is that a large amount of capacitors in the power-regulating circuit generate large current at the moment of power-up, so that the power supply or a battery is damaged by overcurrent; secondly, the electric regulator can reversely feed back energy to the power supply during working, and the overvoltage problem is easy to occur; thirdly, the rotating speed of the motor is positively correlated with the voltage, and when the battery is used for supplying power, the voltage can be reduced, so that the rotating speed of the motor is reduced, and the risk of out-of-control airplane is caused; and fourthly, two problems can occur when the power supply for the airplane is used for supplying power, one is that parameters such as power cost, volume, weight and the like are not controllable when the power of the onboard power supply is very large, and in addition, the airplane is easy to lose control and a standby power supply is required to be added to increase the weight of the airplane when the single power supply supplies power.
Disclosure of Invention
The invention aims to solve the technical problem of providing an unmanned aerial vehicle system with a bidirectional power supply motor controller and an electric energy control method thereof, so as to solve the problems of power supply overcurrent damage caused by large current at the moment of electrifying an unmanned aerial vehicle, power supply protection caused by motor energy change in the flight of the unmanned aerial vehicle, and the like of the unmanned aerial vehicle caused by out-of-control of the power supply.
In order to solve or improve the above technical problem to a certain extent, the present invention provides an unmanned aerial vehicle system with a bidirectional power supply motor controller, comprising: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a power supply and a motor controller;
the motor controller comprises a first bidirectional DCDC power supply, a second bidirectional DCDC power supply and a power regulation circuit;
the output ends of the electric tuning circuits are connected to the motor of the unmanned aerial vehicle body;
the input end of the first bidirectional DCDC power supply is connected to the power supply, and the output end of the first bidirectional DCDC power supply is connected to the input end of the electric regulation circuit to form a first electric regulation system;
the input end of the second bidirectional DCDC power supply is connected to the power supply, and the output end of the second bidirectional DCDC power supply is connected to the input end of the electric regulation circuit to form a second electric regulation system;
and according to the difference of the output power of the power supply, the first electric adjusting system or the second electric adjusting system is selected to communicate the power supply and the motor of the unmanned aerial vehicle body.
In some embodiments, the motor controller further includes a power control module, and the power control module controls the first bidirectional DCDC power supply or the second bidirectional DCDC power supply to operate in a slow start mode, a constant voltage mode, or a constant current mode according to an operation condition of the drone system.
In some embodiments, when the first bidirectional DCDC power supply or the second bidirectional DCDC power supply operates in the slow start mode, a capacitor in the power conditioning circuit is slowly charged, when the first bidirectional DCDC power supply or the second bidirectional DCDC power supply operates in the constant voltage mode, the power conditioning circuit drives the rotation speed of the motor to be constant, and when the first bidirectional DCDC power supply or the second bidirectional DCDC power supply operates in the constant current mode, the power conditioning circuit provides sufficient power for the rotation speed variation of the motor.
In some embodiments, the power regulation circuit is provided in plurality, an output terminal of the first bidirectional DCDC power supply is connected to input terminals of the power regulation circuits, and an output terminal of the second bidirectional DCDC power supply is connected to an input terminal of one power regulation circuit.
In some embodiments, the first bidirectional DCDC power supply is an LLC bidirectional DCDC power supply.
In some embodiments, the second bidirectional DCDC power supply is a boost bidirectional DCDC power supply.
In some embodiments, the power supply includes a ground power supply disposed on the ground and an onboard power supply battery disposed on the drone body.
According to another aspect of the present invention, there is provided a control method for an unmanned aerial vehicle system having a bidirectional power supply motor controller, the method being applied to the unmanned aerial vehicle system having the bidirectional power supply motor controller according to any one of the above embodiments, the method including:
acquiring the working state of the unmanned aerial vehicle system;
when the working state of the unmanned aerial vehicle system is power-on, the motor controller is controlled to operate in a slow start mode, when the working state of the unmanned aerial vehicle system is power shortage, the motor controller is controlled to operate in a constant voltage mode, and when the working state of the unmanned aerial vehicle system is power sudden change, the motor controller is controlled to operate in a constant current mode.
Compared with the prior art, the invention has obvious advantages and beneficial effects. By means of the technical scheme, the unmanned aerial vehicle system with the bidirectional power supply motor controller and the electric energy control method thereof can achieve considerable technical progress and practicability, have industrial wide utilization value and at least have the following advantages:
according to the motor controller, the bidirectional power supply is added, so that the motor controller has the bidirectional energy conversion capability, electric energy can be transmitted to the motor of the unmanned aerial vehicle, energy of the motor can be fed back to the power supply, the stability of the electric energy obtained by the motor is further improved, the problem that the unmanned aerial vehicle loses power due to power protection caused by power change of the motor in flight of the unmanned aerial vehicle is out of control is solved, and the situation that a battery or a power supply is damaged by large current due to the fact that the electric capacity with too many electric tuning circuits is electrified when the unmanned aerial vehicle is electrified is effectively prevented.
Drawings
FIG. 1 is a schematic diagram of a first motor controller topology in accordance with an embodiment of the present invention;
fig. 2 is a schematic diagram of a second motor controller topology in accordance with an embodiment of the present invention.
[ notation ] to show
1. An electric tuning circuit;
2. a first bidirectional DCDC power supply;
3. a second bidirectional DCDC power supply;
4. a motor;
10. a first electrical tuning system;
20. and a second electrical tuning system.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined object, the following detailed description will be given to an embodiment of an unmanned aerial vehicle system with a bidirectional power supply motor controller and an electric energy control method thereof according to the present invention with reference to the accompanying drawings and preferred embodiments.
According to an embodiment of the invention, an unmanned aerial vehicle system with a bidirectional power supply motor controller is provided, and comprises an unmanned aerial vehicle body, a power supply and a motor controller.
Wherein, this power supply is including setting up in the ground power supply on ground and setting up the airborne power supply battery on the unmanned aerial vehicle body.
Preferably, this unmanned aerial vehicle body is mooring unmanned aerial vehicle.
As shown in fig. 1 and 2, the motor controller includes: the power conditioning circuit comprises a power conditioning circuit 1, a first bidirectional DCDC power supply 2 and a second bidirectional DCDC power supply 3.
Wherein, the output of electricity accent circuit 1 is connected in the motor 4 of unmanned aerial vehicle body. The electric tuning circuit 1 adopts the existing electric tuning circuit 1, which is not described herein.
The input end of the first bidirectional DCDC power supply 2 is connected to the power supply of the unmanned aerial vehicle system, and the output end of the first bidirectional DCDC power supply 2 is connected to the electric regulation circuit 1 to form a first electric regulation system 10.
Specifically, the first bidirectional DCDC power supply 2 and the power regulation circuit 1 constitute a first power regulation system 10 of the bidirectional power supply motor controller. Wherein, the input of first bidirectional DCDC power supply 2 is connected in unmanned aerial vehicle system's power supply. The power supply may be a ground power supply or an on-board battery. The output end of the first bidirectional DCDC power supply 2 is connected to the power adjusting circuit 1. Finally, the electric tuning circuit 1 is connected to the motor 4 of the unmanned aerial vehicle body, and then the control of the motor 4 of the unmanned aerial vehicle body is realized.
The input end of the second bidirectional DCDC power supply 3 is connected to the power supply of the unmanned aerial vehicle system, and the output end of the second bidirectional DCDC power supply 3 is connected to the power regulation circuit 1 to form a second power regulation system 20.
Specifically, the second bidirectional DCDC power supply 3 and the power regulation circuit 1 constitute a second power regulation system 20 of the bidirectional power supply motor controller. Wherein, the input end of the second bidirectional DCDC power supply 3 is connected with the power supply of the unmanned aerial vehicle system. The power supply may be a ground power supply or an on-board battery. The output end of the second bidirectional DCDC power supply 3 is connected to the power regulation circuit 1. Finally, the electric tuning circuit 1 is connected to the motor 4 of the unmanned aerial vehicle body, and then the control of the motor 4 of the unmanned aerial vehicle body is realized.
According to the difference of the required driving system power of unmanned aerial vehicle, one of first electricity accent system 10 or second electricity accent system 20 communicates power supply and unmanned aerial vehicle body's motor 4.
In one embodiment, the first bidirectional DCDC power supply 2 is a high power bidirectional DCDC power supply and the second bidirectional DCDC power supply 3 is a low power bidirectional DCDC power supply. Based on this, the first electrical tilt system 10 formed by combining the first bidirectional DCDC power supply 2 and the electrical tilt circuit 1 is a high-power electrical tilt system, and the second electrical tilt system 20 formed by combining the second bidirectional DCDC power supply 3 and the electrical tilt circuit 1 is a low-power electrical tilt system.
Specifically, when the required power of the unmanned aerial vehicle system is greater than the preset power, the first bidirectional DCDC power supply 2 is used for supplying power to the electric regulation circuit 1, and when the required power of the unmanned aerial vehicle system is less than or equal to the preset power, the second bidirectional DCDC power supply 3 is used for supplying power to the electric regulation circuit 1.
Preferably, the preset power is 1KW.
The bidirectional power supply motor controller can adjust the working mode of the controller according to different working conditions of the unmanned aerial vehicle to adapt to the energy requirements of the electric tuning circuit 1 and the motor 4 of the unmanned aerial vehicle body.
In an embodiment, in order to enable the motor controller to adjust its working mode according to different working conditions of the unmanned aerial vehicle, the bidirectional power supply motor controller of the present invention is further provided with a power supply control module (not shown in the figure). The power control module is used to control different operating modes of the first bidirectional DCDC power supply 2 and the second bidirectional DCDC power supply 3.
Specifically, when the working state of the unmanned aerial vehicle system is power-on, the first bidirectional DCDC power supply 2 or the second bidirectional DCDC power supply 3 is controlled to operate in a slow start mode, when the working state of the unmanned aerial vehicle system is power-down, the first bidirectional DCDC power supply 2 or the second bidirectional DCDC power supply 3 is controlled to operate in a constant voltage mode, and when the working state of the unmanned aerial vehicle system is power sudden change, the first bidirectional DCDC power supply 2 or the second bidirectional DCDC power supply 3 is controlled to operate in a constant current mode.
Preferably, the power control module is control software, and can be integrated into the control software of the electrical tuning circuit, so that the software complexity of the electrical tuning circuit is not increased remarkably, and the overall reliability can be improved.
In an embodiment, there are a plurality of electrical tilt circuits 1 of the bi-directional power supply motor controller, and the high-power bi-directional DCDC power supply (i.e. the first bi-directional DCDC power supply 2) is respectively connected to two or four electrical tilt circuits 1 to form a high-power electrical tilt system (i.e. the first electrical tilt system 10). The electric tuning circuit 1 in the high-power electric tuning system is respectively connected with the motor 4 of an unmanned aerial vehicle body, and the electric tuning circuit 1 is responsible for the operation control of the motor 4 of the unmanned aerial vehicle body. The unmanned aerial vehicle body has 4-12 motors 4, and 1-4 high-power electric adjusting systems are selected to be connected with the unmanned aerial vehicle body through power grade adaptation.
In another embodiment, the electric tuning circuit 1 of the motor controller is one, the input end of the electric tuning circuit 1 is connected to the low-power bidirectional DCDC power supply (i.e., the second bidirectional DCDC power supply 3), and the output end of the electric tuning circuit 1 is connected to the motor 4 of the drone body. The unmanned aerial vehicle body has 4-12 motors 4, and 4-12 miniwatt electric regulation systems are selected to be connected with the unmanned aerial vehicle body.
In an embodiment, as shown in fig. 1, the first bidirectional DCDC power supply 2 is an LIC bidirectional DCDC power supply, and is matched with the power regulation circuit 1 to realize high-power regulation. The LIC bidirectional DCDC power supply has high operation efficiency, and the use cost of the unmanned aerial vehicle system can be effectively reduced.
In another embodiment, as shown in fig. 2, the second bidirectional DCDC power supply 2 is a boost bidirectional DCDC power supply, which is matched with the power regulation circuit 1 to complete the low-power regulation. The hardware cost of the boost bidirectional DCDC power supply is lower, the weight of the boost bidirectional DCDC power supply is lighter, and the hardware cost and the weight of the unmanned aerial vehicle system can be reduced.
The electric energy control method of the unmanned aerial vehicle system with the bidirectional power supply motor controller in another embodiment of the invention is applied to the unmanned aerial vehicle system with the bidirectional power supply motor controller in any one embodiment, and the method comprises the following steps:
acquiring the working state of an unmanned aerial vehicle system;
when the working state of the unmanned aerial vehicle system is power-on, the motor controller for controlling the bidirectional power supply operates in a slow start mode, when the working state of the unmanned aerial vehicle system is power shortage, the motor controller for controlling the bidirectional power supply operates in a constant voltage mode, and when the working state of the unmanned aerial vehicle system is power sudden change, the motor controller for controlling the bidirectional power supply operates in a constant current mode.
The bidirectional power supply added on the traditional electric regulation circuit has the capability of bidirectional energy conversion, can transmit electric energy to the motor and feed back the energy of the motor to the power supply, and has excellent performance for solving the characteristic of rapid change of the energy of the unmanned aerial vehicle. For example, when an airborne power supply is electrified, the accidents of battery or power supply damage caused by heavy current discharge due to the fact that similar short circuit phenomena occur when too many capacitors of the electric regulation circuit are electrified are effectively prevented. The bidirectional controllability of the energy enables the electric energy stability obtained by the motor to be improved, and further the controllability and the stability of the unmanned aerial vehicle are improved.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. An unmanned aerial vehicle system with bidirectional power supply motor controller, its characterized in that includes: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a power supply and a motor controller;
the motor controller comprises a first bidirectional DCDC power supply, a second bidirectional DCDC power supply, an electric regulation circuit and a power supply control module;
the output end of the electric regulation circuit is connected to a motor of the unmanned aerial vehicle body;
the input end of the first bidirectional DCDC power supply is connected to the power supply, and the output end of the first bidirectional DCDC power supply is connected to the input end of the electric regulation circuit to form a first electric regulation system;
the input end of the second bidirectional DCDC power supply is connected to the power supply, and the output end of the second bidirectional DCDC power supply is connected to the input end of the electric regulation circuit to form a second electric regulation system;
the power supply control module controls the first bidirectional DCDC power supply or the second bidirectional DCDC power supply to work in a slow start mode according to the operation condition of the unmanned aerial vehicle system, and slowly charges a capacitor in the electric regulation circuit, when the first bidirectional DCDC power supply or the second bidirectional DCDC power supply is controlled to work in a constant voltage mode, the electric regulation circuit drives the motor to have constant rotating speed, and when the first bidirectional DCDC power supply or the second bidirectional DCDC power supply is controlled to work in a constant current mode, the electric regulation circuit provides sufficient electric energy for the rotating speed change of the motor.
2. The drone system with bi-directional power supply motor controller of claim 1, wherein the first bi-directional DCDC power supply is an LLC bi-directional DCDC power supply.
3. The drone system with the bi-directional power supply motor controller of claim 1, wherein the second bi-directional DCDC power supply is a boost bi-directional DCDC power supply.
4. The unmanned aerial vehicle system with bidirectional power supply motor controller of claim 1, wherein the power supply comprises a ground power supply disposed on the ground and an onboard power supply battery disposed on the unmanned aerial vehicle body.
5. A power control method of a drone system with a bi-directional power supply motor controller, characterized in that it is applied to the drone system with a bi-directional power supply motor controller of any one of claims 1-4, the method comprising:
acquiring the working state of the unmanned aerial vehicle system;
when the working state of the unmanned aerial vehicle system is power-on, the motor controller is controlled to operate in a slow start mode, when the working state of the unmanned aerial vehicle system is power shortage, the motor controller is controlled to operate in a constant voltage mode, and when the working state of the unmanned aerial vehicle system is power sudden change, the motor controller is controlled to operate in a constant current mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211367205.4A CN115416857B (en) | 2022-11-03 | 2022-11-03 | Unmanned aerial vehicle system with bidirectional power supply motor controller and electric energy control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211367205.4A CN115416857B (en) | 2022-11-03 | 2022-11-03 | Unmanned aerial vehicle system with bidirectional power supply motor controller and electric energy control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115416857A CN115416857A (en) | 2022-12-02 |
| CN115416857B true CN115416857B (en) | 2023-01-24 |
Family
ID=84207867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211367205.4A Active CN115416857B (en) | 2022-11-03 | 2022-11-03 | Unmanned aerial vehicle system with bidirectional power supply motor controller and electric energy control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115416857B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205770177U (en) * | 2016-05-30 | 2016-12-07 | 广东能飞航空科技发展有限公司 | A kind of unmanned plane mixed power supply system |
| CN106364682A (en) * | 2016-09-28 | 2017-02-01 | 成都凯天电子股份有限公司 | Uninterruptible emergency power supply system for flight parameter recorder |
| JP2018100088A (en) * | 2018-02-02 | 2018-06-28 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Method of supplying energy to uav, and uav |
| CN108367685A (en) * | 2015-09-16 | 2018-08-03 | 高通股份有限公司 | Battery management system for the autonomous vehicles |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10782327B2 (en) * | 2016-02-16 | 2020-09-22 | Panasonic Intellectual Property Management Co., Ltd. | Power supply system, power control device, and power supply device |
| US11866162B2 (en) * | 2020-12-01 | 2024-01-09 | Textron Innovations Inc. | Power management systems for electrically distributed yaw control systems |
-
2022
- 2022-11-03 CN CN202211367205.4A patent/CN115416857B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108367685A (en) * | 2015-09-16 | 2018-08-03 | 高通股份有限公司 | Battery management system for the autonomous vehicles |
| CN205770177U (en) * | 2016-05-30 | 2016-12-07 | 广东能飞航空科技发展有限公司 | A kind of unmanned plane mixed power supply system |
| CN106364682A (en) * | 2016-09-28 | 2017-02-01 | 成都凯天电子股份有限公司 | Uninterruptible emergency power supply system for flight parameter recorder |
| JP2018100088A (en) * | 2018-02-02 | 2018-06-28 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Method of supplying energy to uav, and uav |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115416857A (en) | 2022-12-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8789791B2 (en) | Electrical system and electrical accumulator for electrical actuation and related methods | |
| US5850113A (en) | Super capacitor battery clone | |
| CN101098083B (en) | Vehicle electric generating unit | |
| CN110877741B (en) | Power supply device, flight tool applying same and power supply method thereof | |
| CN110481468B (en) | Automobile dual-power system for L3-level automatic driving and automobile | |
| CN111619360B (en) | Energy management control system and control method suitable for solar unmanned aerial vehicle | |
| CN103221686A (en) | Adjustment device for adjusting an angle of incidence of a rotor blade of a wind power plant | |
| KR20160003824A (en) | Power supply driving system | |
| CN115416857B (en) | Unmanned aerial vehicle system with bidirectional power supply motor controller and electric energy control method thereof | |
| JPH05111112A (en) | Electric traveling vehicle provided with solar cells | |
| CN110350649B (en) | Airborne backup battery protection strategy of high-voltage tethered unmanned aerial vehicle system | |
| CN109873560B (en) | High-power high-stability boosting power supply system | |
| CN205212472U (en) | A single power supply system for electronic unmanned aerial vehicle | |
| KR20210062113A (en) | Hybrid power supply apparatus of aerial vehicle | |
| US11837914B2 (en) | Electric drive system | |
| CN216581046U (en) | Composite wing unmanned aerial vehicle with multiple power supplies for discrete power supply | |
| CN113581223B (en) | Hybrid power locomotive and energy balance control method and system thereof | |
| CN114906336A (en) | Transient energy management device and management method for ram air turbine power generation system | |
| CN112776670B (en) | Battery control method and system and vehicle | |
| EP3659853B1 (en) | Power supply system for fuel cell and fuel cell system | |
| CN113224743A (en) | Off-line transient control method for DC power supply system with hybrid energy storage | |
| KR102161980B1 (en) | Hybrid power supply apparatus of aerial vehicle | |
| CN111404237A (en) | Onboard charging controller for battery with taps and control method thereof | |
| CN211981524U (en) | Aircraft power management system | |
| CN113830312B (en) | Hybrid system for unmanned aerial vehicle and power supply control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |