CN116127588A - Method for judging wing shielding area of lower single-wing solar unmanned aerial vehicle - Google Patents
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Abstract
The invention provides a method for judging a wing shielding area of a lower single-wing solar unmanned aerial vehicle, which comprises the following steps: establishing a space curved surface equation according to the three-dimensional model of the unmanned plane body; determining any point normal vector of the curved surface according to the space curved surface equation; acquiring a solar vector under a machine body coordinate system in a set state; calculating the tangential point coordinates of the solar vector and the space curved surface according to the space curved surface equation, the normal vector and the solar vector; determining the coordinates of any solar cell on the wing under the machine body coordinate system; establishing a linear space vector between the coordinate of the tangent point and the coordinate of the solar cell; judging whether the solar cell is shielded or not according to the linear space vector and the solar vector. Through the technical scheme, the shielding area of the fuselage to the wing photovoltaic module at any position, any moment and any attitude angle of the lower single-wing solar unmanned aerial vehicle in the current design state can be quantitatively calculated, and a basis is provided for setting of bypass diodes of the corresponding photovoltaic module.
Description
Technical Field
The invention relates to the technical field of solar unmanned aerial vehicles, in particular to a method for judging a wing shielding area of a solar unmanned aerial vehicle.
Background
The solar unmanned aerial vehicle takes solar energy as energy, can fly permanently in theory, has no pollution to the environment, is flexible to use and low in cost, and has wide application prospect. The system can be used for civil air research, weather forecast, environment and disaster monitoring, crop telemetering, traffic control, telecommunication and television service, natural protection area monitoring and the like; the method can be used for border patrol, reconnaissance, communication relay and the like in military.
Considering the application characteristics of the solar unmanned aerial vehicle, the photovoltaic module not only has higher conversion efficiency, but also has the characteristics of light weight, flexibility, adaptability to wing airfoil curve surface application and the like. Solar energy unmanned aerial vehicle solar energy power generation array is formed by a plurality of solar cell pieces in series connection in general. However, during flight and ground testing, the photovoltaic module (solar cell) may have a local "hot spot" effect due to the shielding effect of the fuselage, the vertical tail, the deflection of the control surface, etc., resulting in a decrease in the performance of the entire string of power arrays. The "hot spot" effect, in addition to causing a drop in output power, can cause fire in severe cases, which is often avoided by adding bypass diodes in the design of photovoltaic modules. The bypass diode is designed to effectively avoid the hot spot effect, but the bypass diode has the advantages of increased weight and cost of components, so that the bypass diode needs to be designed reasonably. For a lower single-wing solar unmanned aerial vehicle, shielding of a solar cell array by a fuselage is most serious, and a bypass diode with reasonable design is a technical problem to be solved at present in the process of designing a photovoltaic module, wherein the shielding area of the fuselage to the solar cell on a wing is accurately judged.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a method for judging the shielding area of a lower single-wing solar unmanned aerial vehicle wing.
The technical solution of the invention is as follows: a method for judging a wing shielding area of a lower single-wing solar unmanned aerial vehicle comprises the following steps:
establishing a space curved surface equation according to the three-dimensional model of the unmanned plane body;
determining normal vector of any point of the curved surface according to the space curved surface equation
Obtaining sun vector under machine body coordinate system in set state
According to the space curved surface equation and normal vector
And sun vector->
Calculate sun vector +.>
Coordinates of tangential points with the space curved surface;
determining the coordinates of any solar cell on the wing under the machine body coordinate system;
establishing a linear space vector between the coordinates of the tangent points and the coordinates of the solar cell
According to the linear space vector
Is +.>
And judging whether the solar cell is shielded or not.
Further, the establishing the space curved surface equation through the three-dimensional model of the unmanned aerial vehicle comprises:
and outputting space point coordinates in a machine body coordinate system according to the machine body three-dimensional model, and establishing a space curved surface equation F (x, y, z) through space curved surface fitting based on the space point coordinates.
Further, the sun vector in the set state under the machine body coordinate system is obtained
Comprising the following steps:
based on the irradiation model, taking local latitude, local longitude, altitude, days and time as input, and outputting a solar altitude angle and an azimuth angle;
calculating solar vector under inertial coordinate system based on the solar altitude and azimuth
Transforming the solar vector under the inertial coordinate system by the coordinate system
Conversion into solar vector under machine body coordinate system
Further, according to the space curved surface equation and the normal vector
And sun vector->
The calculating of the tangential point coordinates of the solar energy vector and the space curved surface comprises the following steps:
on a space curved surface according to the tangent point and normal vector
Sun vector in body coordinate system +.>
Mutually perpendicular relation determines tangent point coordinates q= (x) q ,y q ,z q )。
Further, the tangential point coordinates (x q ,y q ,z q ) The following equation is satisfied:
further, a linear space vector between the coordinates of the tangent point and the coordinates of the solar cell is established by the following formula
Wherein Q is the distance between the coordinate of the tangent point and the coordinate of the solar cell, and the coordinate of the solar cell is J= (x) sc ,y sc ,z sc )。
Further, according to the linear space vector
Is +.>
Judging whether the solar cell is shielded specifically comprises:
solar vector under computer body coordinate system
And linear space vector->
Absolute value of cosine between +.>
When (when)
And when the set judging condition is met, the solar cell is considered to be shielded.
By using the technical scheme, the shielded solar cell can be accurately judged according to the parallelism criterion by establishing the airframe space curved surface equation and the normal vector, the solar vector, the tangential point coordinate, the linear space vector and the like. The method solves the problem of calculating the area of the shielding area of the photovoltaic module by the lower single-wing solar unmanned aerial vehicle body, and provides a basis for setting the bypass diode of the corresponding photovoltaic module. The method can quantitatively calculate the shielding area of the fuselage to the wing photovoltaic module at any position, any moment and any attitude angle of the single-wing solar unmanned aerial vehicle in the current design state.
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The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a schematic flow chart of a method for judging a wing shielding area of a lower single-wing solar unmanned aerial vehicle according to an embodiment of the invention;
fig. 2 is a schematic view of shielding a wing solar cell by a fuselage in a method for judging a wing shielding region of a lower single-wing solar unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a section view A-A of a schematic view of a lower single-wing solar unmanned aerial vehicle wing shielding area judging method according to an embodiment of the invention.
Wherein the above figures include the following reference numerals:
1. sun is carried out; 2. a curved surface of the body; 3. a wing; 4. a solar cell.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
1-3, according to an embodiment of the present invention, a method for determining a wing shielding area of a lower single wing solar unmanned aerial vehicle is provided, where the method includes the following steps:
step one, a space curved surface equation F (x, y, z) is established according to a three-dimensional model of the unmanned aerial vehicle body, namely a body curved surface equation;
step two, determining normal vector of any point of the curved surface according to the space curved surface equation
Step three, obtaining a solar vector under a machine body coordinate system in a set state
Step four, according to the space curved surface equation and the normal vector
And sun vector->
Calculating the tangential point coordinates of the solar vector and the space curved surface;
step five, determining the coordinates of any solar cell on the wing under the machine body coordinate system;
step six, establishing a linear space vector between the coordinate of the tangent point and the coordinate of the solar cell
Step seven, according to the linear space vector
Is +.>
And judging whether the solar cell is shielded or not.
In this embodiment, by the above-mentioned judging method, whether any solar cell is blocked or not can be accurately judged, and if it is judged that a certain solar cell is blocked, a bypass diode is disposed at the blocked place.
In this embodiment, on the basis of the known space surface equation F (x, y, z), a specific solving process for determining any point normal vector of the surface according to the space surface equation is a conventional technical means in the art, and will not be described in detail herein.
In this embodiment, the coordinates j= (x) of the solar cell can be determined according to the actual laying position of the solar cell in the machine body coordinate system sc ,y sc ,z sc )。
Furthermore, the present embodiment also relates to the following coordinate system. Body axis system O b X b Y b Z b : origin O b At the aircraft centroid; o (O) b X b And O b Z b In the plane of symmetry of the aircraft; o (O) b X b Along the fuselage axis (or average aerodynamic chord), pointing forward; o (O) b Z b Downward. Inertial coordinate system O e X e Y e Z e : origin O e Is a point on the earth's surface; o (O) e X e Y e Is the local level; o (O) e Z e The shaft is vertically downward and points to the earth center; o (O) e X e North referring to O e Y e Refer to the east.
Therefore, according to the embodiment, the shielded solar cell can be accurately judged according to the parallelism criterion by establishing the airframe space curved surface equation and the normal vector, the solar vector, the tangential point coordinate, the linear space vector and the like thereof. The method solves the problem of calculating the area of the shielding area of the photovoltaic module by the lower single-wing solar unmanned aerial vehicle body, and provides a basis for setting the bypass diode of the corresponding photovoltaic module. The method can quantitatively calculate the shielding area of the fuselage to the wing photovoltaic module at any position, any moment and any attitude angle of the single-wing solar unmanned aerial vehicle in the current design state.
In the above embodiment, in order to obtain the space surface equation, the above establishment of the space surface equation by the three-dimensional model of the unmanned aerial vehicle may include:
and outputting space point coordinates in a machine body coordinate system according to the machine body three-dimensional model, and establishing a space curved surface equation F (x, y, z) through space curved surface fitting based on the space point coordinates.
In this embodiment, the specific fitting process is a conventional technical means in the art, and will not be described in detail herein.
In the above embodiment, as shown in fig. 2, in order to obtain the solar vector in the body coordinate system, the obtaining the solar vector in the body coordinate system in the set state may include:
based on the irradiation model, taking local latitude, local longitude, altitude, days and time as input, and outputting a solar altitude angle and an azimuth angle;
calculating solar vector under inertial coordinate system based on the solar altitude and azimuth
Transforming the solar vector under the inertial coordinate system by the coordinate system
Conversion into solar vector under machine body coordinate system
In this embodiment, the specific resolving process is conventional in the art.
In the above embodiments, as shown in FIGS. 2-3, in order to calculate the sun vector
Coordinates of tangential points to the space surface according to the space surface equation, normal vector ∈ ->
And sun vector->
The calculating of the tangential point coordinates of the solar energy vector and the space curved surface comprises the following steps:
on a space curved surface according to the tangent point and normal vector
Sun vector in body coordinate system +.>
Mutually perpendicular relation determines tangent point coordinates q= (x) q ,y q ,z q )；
I.e. tangent point coordinates (x q ,y q ,z q ) The following equation is satisfied:
in this embodiment, the coordinates of the tangent points can be calculated by the above equation.
In the above embodiment, in order to obtain the linear space vector between the coordinates of the tangent point and the coordinates of the solar cell, the linear space vector between the coordinates of the tangent point and the coordinates of the solar cell may be established by the following formula
Wherein Q is the distance between the coordinate of the tangent point and the coordinate of the solar cell, and the coordinate of the solar cell is J= (x) sc ,y sc ,z sc )。
In the above embodiment, in order to accurately determine whether the solar cell is blocked, the linear space vector is used to determine the position of the solar cell
Is +.>
Judging whether the solar cell is shielded specifically comprises:
solar vector under computer body coordinate system
And linear space vector->
Absolute value of cosine between +.>
When (when)
And when the set judging condition is met, the solar cell is considered to be shielded.
And solving the cosine value between the two straight lines of the solar vector and the straight line space vector, taking an absolute value, and judging whether the solar cell is blocked or not according to the absolute value of the cosine.
In this embodiment, the determination condition may be designed according to the actual situation.
In order to further understand the method for determining the wing shielding region of the lower single-wing solar unmanned aerial vehicle provided by the embodiment of the invention, a specific embodiment is described in detail below:
s in FIGS. 2 and 3 is the body axis O b X b Y b Z b Wherein, 1 is the sun, n is the unit normal vector of the curved surface 2 of the machine body, q is the tangent point of the sun vector and the curved surface 2 of the machine body, J is the shielding point of the machine body to the sun vector,the shielding area is formed at the position, close to the wing heel, of the shielding point, and the non-shielding area is formed at the outer side, close to the wing 3, of the shielding point. The shielding judgment condition H of this embodiment is selected to be 0.998. The following describes an embodiment with reference to fig. 2 and 3.
Step one: in a body coordinate system O according to a body three-dimensional model b X b Y b Z b Outputting space point coordinates, and establishing a space curved surface equation F (x, y, z) through space curved surface fitting;
step two: determining a normal vector n of any point of the curved surface according to a normal equation expression of the space curved surface;
step three: referencing an irradiation model with local latitude Lati, local longitude Longi, altitude h, day N d Time t is taken as input to output solar altitude angle H a And azimuth angle psi, and further calculate inertial coordinate system O e X e Y e Z e Lower sun vector
Through coordinate system transformation, the normal vector of the solar vector in the inertial coordinate system is converted into the machine body coordinate system O b X b Y b Z b Lower sun vector->
Step four: determining a tangential point coordinate q= (x) according to the relation that tangential points are on the space curved surface and normal vectors and solar vectors are mutually perpendicular q ,y q ,z q )；
Step five: in the machine body coordinate system O b X b Y b Z b In the method, the coordinates J= (x) of the solar cell 4 are determined according to the actual laying position of the solar cell 4 on the wing sc ,y sc ,z sc )；
Step six: establishing tangent point coordinates (x q ,y q ,z q ) And 4 coordinates (x) sc ,y sc ,z sc ) Spatial linear unit vector between
Step seven: solving for solar vectors
Absolute value of cosine between +.>
When the thickness of the solar cell sheet 4 is equal to or greater than 0.998, the solar cell sheet is considered to be shielded, and when the thickness is less than 0.998, the solar cell sheet is considered to be shielded.
Step eight: the shielding condition of the airplane body to the wings in different states can be calculated by changing the position, time and attitude angle input information, namely, the three input steps, and repeating the steps.
In summary, the method for judging the shielding region of the lower single-wing solar unmanned aerial vehicle wing provided by the embodiment of the invention can accurately evaluate the shielding region of the solar unmanned aerial vehicle body on the photovoltaic module on the wing in the current design state, and provides a basis for the design of the bypass diode of the photovoltaic module in the region.
It will be appreciated by persons skilled in the art that the descriptions of materials and dimensions in the above embodiments are merely illustrative, and are not intended to limit the present invention.
Features that are described and/or illustrated above with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.
The many features and advantages of the embodiments are apparent from the detailed specification, and thus, it is intended by the appended claims to cover all such features and advantages of the embodiments which fall within the true spirit and scope thereof. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the embodiments of the invention to the exact construction and operation illustrated and described, and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope thereof.
The invention is not described in detail in a manner known to those skilled in the art.
Claims (7)
1. The method for judging the wing shielding area of the lower single-wing solar unmanned aerial vehicle is characterized by comprising the following steps of:
establishing a space curved surface equation according to the three-dimensional model of the unmanned plane body;
determining normal vector of any point of the curved surface according to the space curved surface equation
Obtaining sun vector under machine body coordinate system in set state
According to the space curved surface equation and normal vector
And sun vector->
Calculate sun vector +.>
Coordinates of tangential points with the space curved surface;
determining the coordinates of any solar cell on the wing under the machine body coordinate system;
establishing a linear space vector between the coordinates of the tangent points and the coordinates of the solar cell
According to the linear space vector
Is +.>
And judging whether the solar cell is shielded or not.
2. The method for determining the wing shielding area of a lower single-wing solar unmanned aerial vehicle according to claim 1, wherein the step of establishing a space curved surface equation through a three-dimensional model of the unmanned aerial vehicle body comprises the following steps:
and outputting space point coordinates in a machine body coordinate system according to the machine body three-dimensional model, and establishing a space curved surface equation F (x, y, z) through space curved surface fitting based on the space point coordinates.
3. The method for determining a wing shielding region of a lower single-wing solar unmanned aerial vehicle according to claim 1 or 2, wherein the method is characterized in that the solar vector under the body coordinate system in the set state is obtained
Comprising the following steps:
based on the irradiation model, taking local latitude, local longitude, altitude, days and time as input, and outputting a solar altitude angle and an azimuth angle;
calculating solar vector under inertial coordinate system based on the solar altitude and azimuth
Transforming the solar vector under the inertial coordinate system by the coordinate system
Conversion into solar vector under body coordinate system +.>
4. The method for determining the shielding area of a lower single-wing solar unmanned aerial vehicle wing according to claim 3, wherein the method is characterized in that according to the space curved surface equation and the normal vector
And sun vector->
The calculating of the tangential point coordinates of the solar energy vector and the space curved surface comprises the following steps:
on a space curved surface according to the tangent point and normal vector
Sun vector in body coordinate system +.>
Mutually perpendicular relation determines tangent point coordinates q= (x) q ,y q ,z q )。
5. The method for determining a wing shielding region of a lower single-wing solar unmanned aerial vehicle according to claim 4, wherein the tangential point coordinates (x q ,y q ,z q ) The following equation is satisfied:
6. the method for determining the blocking area of a lower single-wing solar unmanned aerial vehicle wing according to claim 5, wherein the linear space vector between the coordinates of the tangent point and the coordinates of the solar cell is established by the following formula
Wherein Q is the distance between the coordinate of the tangent point and the coordinate of the solar cell, and the coordinate of the solar cell is J= (x) sc ,y sc ,z sc )。
7. A method for determining a wing shielding region of a lower single-wing solar unmanned aerial vehicle according to any one of claims 1 to 6, wherein the method is based on the linear space vector
Is +.>
Judging whether the solar cell is shielded specifically comprises:
solar vector under computer body coordinate system
And linear space vector->
Absolute value of cosine between +.>
When (when)
And when the set judging condition is met, the solar cell is considered to be shielded. />
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