CN116149364B

CN116149364B - Modeling method for serial oil-electricity hybrid vertical-lift fixed-wing unmanned aerial vehicle power system

Info

Publication number: CN116149364B
Application number: CN202310091180.8A
Authority: CN
Inventors: 安斯奇; 郑育行; 遆政宪; 彭旭; 刘杰龙; 杨国龙; 张启悦; 齐元; 张勋
Original assignee: Civil Aviation Flight University of China
Current assignee: Civil Aviation Flight University of China
Priority date: 2022-09-29
Filing date: 2023-02-09
Publication date: 2023-12-22
Anticipated expiration: 2043-02-09
Also published as: CN116149364A

Abstract

The invention discloses a modeling method of a series-type oil-electricity hybrid vertical-up fixed wing unmanned aerial vehicle power system, which comprises the steps of determining power components of the unmanned aerial vehicle power system according to a preset method through target requirements of the unmanned aerial vehicle, carrying out layout and connection of the power components through a design method of the unmanned aerial vehicle power system, carrying out a power system characteristic test after constructing a power system integrated verification platform through a test scheme, and finally constructing a power system simulation model based on test data through the modeling scheme and verifying the accuracy of the model through a verification method. According to the invention, the oil-electricity cooperative driving and energy utilization rate maximization of the tandem type oil-electricity hybrid lifting fixed wing unmanned aerial vehicle under different task modes and working conditions is realized, the reliability and the correctness of a power system are verified simply, conveniently and efficiently, the construction of a simulation platform of the power system is realized, and the basis for numerical analysis is provided for the control and energy management strategy of the unmanned aerial vehicle and the coordination scheduling of multi-mode power.

Description

Modeling method for serial oil-electricity hybrid vertical-lift fixed-wing unmanned aerial vehicle power system

Technical Field

The invention belongs to the technical field of power systems of vertical-lift fixed-wing unmanned aerial vehicles, and particularly relates to a modeling method of a serial oil-electricity hybrid vertical-lift fixed-wing unmanned aerial vehicle power system.

Background

The hybrid power vertical-lift fixed-wing unmanned aerial vehicle generally refers to an unmanned aerial vehicle which uses two or more energy sources as power equipment, combines the vertical-lift capability and high propulsion efficiency of a multi-rotor unmanned aerial vehicle and the fixed-wing unmanned aerial vehicle layout, and is applicable to work tasks under complex terrain conditions and application scenes requiring quick response and long-time fixed-point hovering in comparison with the traditional single-energy-source unmanned aerial vehicle. Some typical tasks are represented by power inspection, geological investigation, disaster detection, logistics transportation, etc. However, most of the existing hybrid vertical-lift fixed-wing unmanned aerial vehicles are "pseudo-hybrid", that is, no energy flow relationship is formed between two energy source engines and a power lithium battery, such as CW-40 unmanned aerial vehicle proposed by the Cheng-du-jingku-shi industry limited company. In order to improve the energy utilization rate and the overall efficiency of the unmanned aerial vehicle of the type, domestic partial scholars propose unmanned engine oil-electricity hybrid power systems for increasing range, for example, a 5+1 unmanned engine oil-electricity hybrid power system for increasing range designed by Chongqing traffic university green aviation technology institute, the hybrid power system adopts an engine as a main power source, a lithium battery is used as a secondary power source, the engine generates power through a direct-drive generator and simultaneously drives 4 lift motors and 1 propulsion motor, and the type power system has the advantages of high response speed, high power redundancy and high reliability compared with a pure engine power system, but because of the armature reaction of the generator, the engine is used as the main power source, the power generation characteristic is softer when the generator is independently dragged to generate power, the voltage drop amplitude is larger when the load is connected, and the power system can work unstably. Therefore, when the power system of the oil-electricity hybrid lifting unmanned aerial vehicle is designed, the energy utilization rate and the structural complexity of the whole system can be influenced by different power system design methods. In the characteristic research of the power system, the establishment of the power system test bed and the model plays a key role in the characteristic research of the power system. The students Mao Jianguo from the university of aviation aerospace in Nanjing use SIMULINK to build the reverse simulation model of each component of the hybrid power system based on the experimental modeling method, and the results of the simulation test and algorithm verification of the model of the power system obtained by different modeling methods are also greatly different.

Sun Wei in the invention patent 'a multi-energy hybrid propulsion power system for unmanned aerial vehicle', a mode that an oil-driven mechanism is matched with an electric motor mechanism is adopted to realize a driving effect, and a technical scheme is provided for solving the problem that the oil-driven system and the electric motor system of the unmanned aerial vehicle can only work independently in stages and cannot cooperate to output energy. According to the scheme, the axle of the oil-driven engine is mechanically connected with the generator, and meanwhile, a clutch is connected in series between the oil-driven engine and the generator, so that the combination or separation of the main shaft of the oil-driven engine and the engine can be realized. When the unmanned aerial vehicle is in a take-off stage or a climbing stage, the battery is used for supplying power to the motor, the oil-driven engine is in an operating state, the oil-driven engine drives the generator to rotate, the clutch is in a closed state, and the engine propeller rotates; when the unmanned aerial vehicle is in a cruising stage, the storage battery is firstly used for supplying power to the motor, if the electric quantity of the storage battery is sufficient, the storage battery is used for supplying power to the motor, the oil-driven engine stops running, the clutch is in a separated state, and the engine propeller does not work; if the electric quantity of the storage battery is insufficient and is lower than the protection electric quantity Q1, the generator supplies power to the motor, meanwhile, the generator charges the storage battery, when the electric quantity reaches the working electric quantity Q2, the oil-driven engine is in a running state, the oil-driven engine drives the generator to rotate, the clutch is in a disconnection state, and the engine propeller does not work. The power assembly selected by the scheme mainly comprises 1 engine (model for experimental scheme) with 3W-170 oil motor, 1 engine propeller (main propeller), 4 motor groups, 4 motor propeller groups (group propeller), 1 power supply battery, 1 oil tank and 4 electric regulators; the control assembly includes: the power supply manager is used for controlling power supply to the motor, the throttle Y line is used for controlling the engine throttle and the motor throttle respectively, and the clutch is used for controlling the combination or separation of a main shaft of the oil engine and the engine propeller.

The students Mao Jianguo from the university of aviation aerospace in Nanjing adopt an experimental modeling method in the research of simulation and control strategy of the hybrid power system of the small aviation piston engine to model each module of the hybrid power system of the small aviation piston engine. Modeling an engine, wherein the scheme adopts a 3.5kW two-stroke aviation piston engine, and on one hand, the universal characteristic curve of the engine is checked according to the required torque and the required rotating speed of the engine to obtain the fuel consumption condition of the engine; and on the other hand, the current throttle opening of the engine is obtained by checking a throttle opening curve table of the required torque and the required rotating speed, the current oil injection pulse width is obtained by checking an oil injection MAP table, and finally the oil consumption is calculated according to the nozzle characteristics. Modeling the generator and the motor, the scheme adopts a disc type brushless direct current motor with rated power of 500W. And (3) inputting the output electric power obtained by calculating the required rotating speed and the required torque of the motor model into a power bus module for power distribution. Lithium battery modeling is an equivalent circuit that treats it as an ideal open circuit voltage in series with the internal resistance of the battery. The system mainly comprises a battery power limiting module, a current calculating module, an SOC estimating module and an open-circuit voltage and internal resistance calculating module. The thrust model is that the motor establishes a relation comparison table of the power input quantity and the thrust output quantity of the motor through test data under the condition of matching 17 multiplied by 5 propeller load, and the thrust output is obtained through the power table consumed by the motor. The torque coupling model is established by combining load torques of 2 power sources through an electromagnetic torque coupler and transmitting the load torques to an engine, and the load torques can be distributed to the engine model and the motor/generator model. The power bus model internally contains a control strategy access point to achieve energy flow for regulating the battery, motor/generator and load.

Zhao Changhui from Shen Fei and the like in the patent of the invention of the multifunctional test stand of the unmanned aerial vehicle power system and the test method thereof test a small motor propeller, a small jet engine and a small piston power propeller by designing a torque measuring device and a tension and compression testing device. The test method of the small motor propeller comprises the following steps: firstly, connecting, fixing and debugging a propeller motor to ensure that the propeller motor is reliably fixed on a mounting seat, and switching on a control power supply of a power system; secondly, connecting a tension and compression testing device, enabling the guide rail and the testing platform to be in a slidable connection state, starting an electrodynamic system, adjusting different rotating speeds of the propeller, and recording the value of the propeller tension on the tension and compression testing device; and finally, starting an electric power system on the mounting seat by using a torque measuring device, adjusting different rotating speeds of the propeller, calculating the product of the reading of the tension and pressure measuring device and the distance between two positioning circle centers in the connecting rod support arm, namely the value of the propeller torque, and completing the propeller torque test. Test method for small jet engine: firstly, connecting, fixing, starting and debugging a jet engine; finally, connecting the tension and compression testing device, enabling the guide rail and the testing platform to be in a slidable connection state, controlling different rotating speeds of the jet engine, and recording jet pressure values on the tension and compression testing device; the test method of the small piston power propeller comprises the following steps: firstly, connecting, fixing and debugging a piston engine to ensure that the piston engine is reliably fixed on a mounting seat, debugging an accelerator of the engine, and changing the rotating speed of a propeller; secondly, connecting a tension-compression testing device, enabling the guide rail and the testing platform to be in a slidable connection state, starting a piston power system, adjusting different screw rotating speeds, and recording the screw tension value on the tension-compression testing device; and finally, starting a piston power system on the mounting seat by using a torque measuring device, adjusting different rotating speeds of the propeller, calculating the product of the reading of the tension and pressure measuring device and the distance between two positioning circle centers in the connecting rod support arm, namely the value of the propeller torque, and completing the propeller torque test.

The invention patent 'a multi-energy hybrid propulsion power system for an unmanned aerial vehicle' sets a clutch to additionally increase the weight of the whole set of hybrid power system, and the set of power system can switch the working modes of an oil-driven mechanism and an electric mechanism under different modes, but frequent combination and disconnection of the clutch can negatively influence the running stability of the power system under the complex flight condition and the long-time vertical maneuvering working condition of the whole set of power assembly of the unmanned aerial vehicle, and the scheme does not completely consider from the integrated layout design of the unmanned aerial vehicle, so that the matching degree of the power range of unmanned aerial vehicle adaptation and the model selection of the unmanned aerial vehicle has larger uncertainty factors.

The journal paper simulation and control strategy research of the hybrid power system of the small aviation piston engine is used for modeling an engine, a generator, a motor, a storage battery and the like respectively, the performance characteristics of each unit of the hybrid power can be obtained through the experimental modeling method, before the hybrid power assembly of the unmanned aerial vehicle integrated layout is formed, the performance characteristics of the hybrid power assembly can not be investigated in the integrity of the hybrid power assembly, meanwhile, the mode of modeling by using transfer power is often influenced by energy transfer efficiency, engineering errors and the like, the experimental verification accuracy of the power assembly is low, the modeling process is complex, and convenience and intuitiveness are lacked.

The invention patent of multifunctional test stand of unmanned aerial vehicle power system and test method thereof is simpler to the test scheme of unmanned aerial vehicle power device, only the mechanical part which produces pulling force and torque from the outside is considered from power device and screw, lacks the test data on the aspect of electric power, and can not characterize the universal characteristic of unmanned aerial vehicle under steady state and the response condition of dynamic power according to the demand of unmanned aerial vehicle rotational speed, torque and power, therefore, the implementation of the test scheme is more limited to improving the endurance performance and vertical maneuvering time of hybrid unmanned aerial vehicle, and can not further provide the basis of the energy optimizing management strategy.

Disclosure of Invention

The present invention has been made to solve the above-mentioned problems occurring in the prior art. Therefore, a modeling method of a power system of a tandem type oil-electricity hybrid vertical-up fixed wing unmanned aerial vehicle is needed, and aims to realize energy flow among double energy sources of the traditional oil-electricity hybrid vertical-up fixed wing unmanned aerial vehicle, maximize oil-electricity cooperative driving and energy utilization rate of the tandem type oil-electricity hybrid vertical-up fixed wing unmanned aerial vehicle under different task modes and working conditions, simply, conveniently and efficiently verify the reliability and correctness of a power system, conveniently and quickly construct a simulation platform for the power system through a model selection method of power system power assembly equipment of the power system, a design scheme of a power system functional verification test, a simulation model construction and model verification method and the like, and realize the basis of numerical analysis by a control and energy management strategy of the type unmanned aerial vehicle and coordination scheduling of multi-mode power. Under the complete technical means of the invention, all advantages of the application of the hybrid power system to the vertical-lift fixed-wing unmanned aerial vehicle can be fully exerted, and meanwhile, the vertical-lift fixed-wing unmanned aerial vehicle carrying the power system has higher energy utilization rate, higher power redundancy, longer voyage and more hovering times compared with the traditional vertical-lift fixed-wing unmanned aerial vehicle, so that the purpose of expanding the application scene of the vertical-lift fixed-wing unmanned aerial vehicle is achieved.

According to a first aspect of the invention, there is provided a modeling method for a tandem type oil-electricity hybrid vertical-movement fixed wing unmanned aerial vehicle power system, the method comprising:

determining an unmanned aerial vehicle power system component according to a preset method based on unmanned aerial vehicle target requirements;

assembling the unmanned aerial vehicle power system component to obtain an unmanned aerial vehicle power system;

building a power system integrated verification platform, and performing a power system characteristic test on the unmanned aerial vehicle power system;

building a power system simulation model based on test data of the power system characteristic test;

and verifying the correctness and reliability of the power system simulation model.

Further, unmanned aerial vehicle power system subassembly includes motor, generator, rotor, electronic governor, three-phase fairing, propulsion screw and power battery, unmanned aerial vehicle target demand is based on, confirms unmanned aerial vehicle power system subassembly according to predetermineeing the method, includes:

under the power system model selection of a rotor mode, determining the number of motors and the model of the motors and a rotor based on the takeoff weight of the unmanned aerial vehicle, determining the power level of a generator based on the number of the motors and the total power, selecting an electronic speed regulator based on the model of the motors, and determining the power range of an engine and a three-phase rectifying device based on the conversion efficiency of the direct-driven generator of the engine;

Under the condition of fixed wing mode power system selection, the engine type selection power range is narrowed according to the weight, the span, the aspect ratio and the wing profile of the unmanned aerial vehicle, and the propulsion propeller type is determined according to the power level of the engine and the thrust-weight ratio requirement under the working condition of flat flight;

and determining the action voltage and the discharge multiplying power of the power battery based on the total weight requirement, the power response requirement and the emergency return requirement of the unmanned aerial vehicle.

Further, the layout and connection modes of the unmanned aerial vehicle power system obtained by assembling the unmanned aerial vehicle power system components are as follows:

a double-output-shaft engine is selected, a propulsion propeller with a variable pitch is directly driven in series through the front end of a crankshaft of the engine, a three-phase permanent magnet generator is directly driven in series through the rear end of the crankshaft, the generator is connected with a three-phase rectifying device, alternating current is rectified into direct current, and a power battery is connected in parallel with the direct current output end to jointly supply power for a multi-rotor motor, so that a serial-parallel layout is formed.

Further, the system integrated verification platform comprises a wireless remote controller, a lower computer, an upper computer, a sensor group and an actuating mechanism, wherein the wireless remote controller is in signal connection with the lower computer so as to control the lower computer to send out control signals, the lower computer is in signal connection with the sensor group and the actuating mechanism so as to receive data detected by the sensor group and control the actuating mechanism to carry out power system characteristic test according to a preset scheme, the lower computer is in signal connection with the upper computer so as to transmit various electric signals detected by the sensor group to the upper computer, the sensor group comprises a temperature sensor, a tension sensor, a weighing sensor, a rotating speed sensor, a current sensor and a voltage sensor, the actuating mechanism comprises a servo steering engine, a starting motor and an electronic speed regulator, the electronic speed regulator is connected with the starting motor, the starting motor is connected with an unmanned power steering engine, the servo steering engine is connected with an unmanned power system, and the lower computer and the sensor group are powered by a power battery of the unmanned power system.

Further, the building of the powertrain system integrated verification platform and the performance test of the powertrain system for the unmanned aerial vehicle powertrain system comprise:

starting a power system, and adjusting the lift force of the rotor wing to a set value under the conditions that the display of the upper computer and the control of the wireless remote controller are normal;

adjusting an engine throttle lever to enable the power system to output power until an upper computer displays that the power system parameter output is stable;

obtaining steady-state data, wherein the steady-state data comprises engine speed, power generation power, battery flushing power and engine fuel consumption rate;

under the condition that steady state data acquisition is normal, 10% of throttle levers are added, the engine throttle levers are readjusted to enable the power system to output power, and data corresponding to different power system output powers are acquired until the engine throttle reaches the maximum position.

starting a power system, and adjusting the wireless remote controller to enable the power system to be stabilized at a working condition point 1 under the condition that the display of the upper computer and the control of the wireless remote controller are normal;

Under the condition that the output of the power system parameters acquired by the upper computer is stable, the tension of the rotor wing is kept inconvenient, the wireless remote controller is regulated to regulate the power system to the working point 1 and stable after the throttle of the engine is stepped to the working point 2, the throttle of the engine is kept unchanged, and the wireless remote controller is regulated to regulate the power system to the working point 1 and stable after the tension of the rotor wing is stepped to the working point 3; and observing whether the dynamic data acquisition is normal.

Further, the power system simulation model is built based on the test data of the power system characteristic test, and the method comprises the following steps:

acquiring a plurality of groups of steady-state data based on a steady-state characteristic physical test;

under the condition that steady-state data is in a normal threshold range, fitting the steady-state data based on a least square method to obtain a three-dimensional steady-state model;

projecting the three-dimensional steady-state model to obtain a steady-state characteristic diagram of the power system;

and establishing a steady-state simulation model based on the steady-state characteristic diagram of the power system.

based on a dynamic characteristic physical test, three groups of dynamic characteristic data are obtained;

drawing a step output response curve under the condition that the three groups of dynamic characteristic data are in a normal threshold range;

The first-order inertial link time domain of the step output response curve is identified to obtain a plurality of groups of transfer functions;

and establishing a dynamic simulation model based on the multiple groups of transfer functions.

According to a second aspect of the present invention, there is provided a modeling apparatus for a tandem type oil-electricity hybrid vertical-movement fixed wing unmanned aerial vehicle power system, the apparatus comprising:

the unmanned aerial vehicle power system component determining module is configured to determine an unmanned aerial vehicle power system component according to a preset method based on target requirements of the unmanned aerial vehicle;

the unmanned aerial vehicle power system is obtained by assembling the unmanned aerial vehicle power system components determined by the unmanned aerial vehicle power system component determining module according to a preset layout and a preset connection mode;

the system integrated verification platform is used for carrying out a power system characteristic test on the unmanned power system;

the power system simulation model building module is configured to build a power system simulation model based on test data of the power system characteristic test;

and the verification module is configured to verify the correctness and reliability of the power system simulation model.

Further, the unmanned aerial vehicle power system component includes a motor, a generator, a rotor, an electronic governor, a three-phase fairing, a propulsion propeller, and a power battery, the unmanned aerial vehicle power system component determination module is further configured to:

Further, the layout and connection modes of the unmanned aerial vehicle power system are as follows:

Further, the powertrain integration verification platform is further configured to:

Further, the power system simulation model building module is further configured to:

According to a third aspect of the present invention there is provided a non-transitory computer readable storage medium storing instructions which, when executed by a processor, perform a method as described above.

According to the invention, the modeling method of the series type oil-electricity hybrid vertical-lift fixed wing unmanned aerial vehicle power system has at least the following technical effects:

In a single technical aspect, the invention provides an effective, reliable and correct technical process or method for the design and verification of a power system applied to a vertical fixed wing unmanned aerial vehicle: firstly, in the aspect of the model selection method of the power system power component equipment (1), the technical means considers the requirements of different working conditions and task modes of the vertical fixed wing unmanned aerial vehicle, and the model selection difficulty of the power system component can be simplified by the method for determining the power system component according to the requirements of the unmanned aerial vehicle, so that the consumption cost of the unmanned aerial vehicle before design is reduced, and the overall design efficiency of the unmanned aerial vehicle is improved. Secondly, in the aspect of (2) adapting the power system layout architecture and the design method of the unmanned aerial vehicle, the proposed power system layout and design method not only fully plays the power characteristics of different energy sources, but also considers two flight working conditions of the vertical maneuvering working condition of the vertical maneuvering unmanned aerial vehicle, can meet the power response and the power requirement of the vertical maneuvering working condition of the vertical maneuvering unmanned aerial vehicle, and also can meet the power requirement and the multi-mode requirement of the horizontal flying working condition of the vertical maneuvering unmanned aerial vehicle, improves the system efficiency, reduces the oil consumption of the power system, improves the energy utilization rate of the whole machine, and can improve the vertical maneuvering working time and the horizontal flying range of the unmanned aerial vehicle. Secondly, in the aspect of the design scheme of the functional verification test of the power system (3), the scheme of the integrated verification test is provided by combining the ground integrated verification platform, the real working state of the vertical fixed wing unmanned aerial vehicle is simulated to the greatest extent, and the actual requirement of the vertical fixed unmanned aerial vehicle on the power system is combined, and all parts of the power system are installed in a ground simulation fly mode according to the actual working state, so that the safety of equipment and experimental personnel can be ensured, the research flow of the power system can be simplified, the characteristics of the power system can be explored in place in one step, more intuitionistic and more convenient, in addition, the man-machine interaction requirement is fully reflected by the operation mode presented by the built ground integrated verification platform, the data display and storage mode, the verification platform can be used for experimental research, the special construction of the unmanned aerial vehicle and the teaching of students in the special department of the unmanned aerial vehicle. Finally, in the aspect of the simulation model building and model verification method (4), the power system integrated modeling method is provided, a power system physical platform is simulated, verification test work of a series of algorithms such as an energy management strategy algorithm, a power system control algorithm, a control strategy algorithm and the like can be carried out by depending on the simulation platform, various invisible results of the algorithm in the operation process can be found by a simulation test before the physical test, the safety of personnel is ensured, the physical test is carried out after the simulation test is successful, the research efficiency is improved, and the research cost is reduced.

In the aspect of the overall effect, the upstream technical research promotes the application and development of downstream products, and the series of technical processes or methods aiming at the series-type oil-electricity hybrid lifting fixed wing unmanned aerial vehicle power system can effectively improve the performance of the lifting fixed wing unmanned aerial vehicle, so that the lifting fixed wing unmanned aerial vehicle can be applied to wider and harsher application scenes. Secondly, a series of means provided can promote the relevant technical development of the vertical fixed wing unmanned aerial vehicle, reduce the research difficulty of a power system of the unmanned aerial vehicle, improve the research efficiency and accelerate the development of the power-assisted unmanned industry.

Drawings

FIG. 1 is a general flow chart of the technique of the present invention.

FIG. 2 is a flow chart of a method of selecting a power component of a power system.

Fig. 3 is a topology structure diagram of a power system of the hybrid oil-electric lifting unmanned aerial vehicle.

Fig. 4 is a physical diagram of a power system ground integrated verification platform.

Fig. 5 is a schematic diagram of the development of the PCB of the lower computer measurement and control system.

FIG. 6 is a block diagram of a powertrain system integrated verification platform.

Fig. 7 is a control flow chart of the upper computer.

Fig. 8 is a schematic view of a front panel of the upper computer.

FIG. 9 is a flow chart of the steady state property real test operation.

FIG. 10 is a flow chart of the dynamic performance test operation of the power system.

Fig. 11 is a schematic diagram of a three-dimensional steady-state model of a power system, in which (a) represents a fuel consumption rate curved surface of the power system, etc. (B) represents a generated power curved surface of the power system, etc. (C) represents an engine rotational speed curved surface of the power system, etc., and (D) represents a battery charge-discharge power curved surface of the power system, etc.

Fig. 12 is a graph of generated power versus engine fuel consumption rate.

Fig. 13 is an engine speed-battery charge-discharge power characteristic diagram.

FIG. 14 is a flow chart for steady state characteristic simulation model establishment.

FIG. 15 is a schematic diagram of a steady state simulation model of a powertrain system.

FIG. 16 is a flow chart for dynamic characteristics simulation model creation.

FIG. 17 is a schematic diagram of a dynamic simulation model of a power system.

Fig. 18 is a graph comparing simulation and physical results of engine speed and battery charge-discharge power as output.

Fig. 19 is a graph showing a comparison between simulation results and actual results of the fuel consumption rate and the generated power of the engine.

Fig. 20 is a graph comparing the real test result and the simulation result of the variation of the output parameters of the power system when the throttle step of the engine is 25%.

Fig. 21 is a graph comparing the real test result and the simulation result of the variation of the output parameters of the power system when the step of the electric throttle is 10%.

Detailed Description

The embodiment of the invention provides a modeling method for a power system of a tandem type oil-electricity hybrid vertical-lift fixed wing unmanned aerial vehicle. As shown in fig. 1, the overall flow chart of the method includes steps S101-S105, specifically as follows:

step S101, determining an unmanned aerial vehicle power system component according to a preset method based on unmanned aerial vehicle target requirements.

The invention provides a power system model selection method taking multiple rotors (vertical maneuver condition) and fixed wings (plane flight condition) into consideration according to the structural characteristics of the multiple rotors and the fixed wings of the vertical fixed wing unmanned aerial vehicle, namely, the selected power system is required to simultaneously meet the take-off weight requirement in the rotor wing mode and the power weight ratio requirement in the fixed wing mode of the vertical fixed wing unmanned aerial vehicle. Firstly, under the power system model selection of a rotor wing mode, a proper motor and rotor wing are selected according to the takeoff weight requirement of the unmanned aerial vehicle, the power level of a generator is determined based on the number and the total power of the motors, and an electronic speed regulator is selected based on the motor model. The power range and the rectifying device of the engine are determined by the conversion efficiency of the power generation of the engine direct-drive generator; secondly, under the fixed wing mode power system model selection, the engine model selection power range is reduced according to the parameters such as the weight, the span, the aspect ratio, the wing profile and the like of the unmanned aerial vehicle, and the propulsion propeller model is determined according to the engine power level and the thrust-weight ratio requirement under the working condition of flat flight; and finally, determining the action voltage and the discharge multiplying power of the power battery based on the total weight requirement, the power response requirement and the emergency return requirement of the unmanned aerial vehicle. The whole power system comprises an engine, a generator, a rectifying device, a lithium battery, a motor, an electronic speed regulator, a lifting rotor wing, a flat flight propulsion device and the like. And after the model selection is completed, verifying and iterating the selected model product based on the overall design and layout ideas.

And S102, assembling the unmanned aerial vehicle power system component to obtain the unmanned aerial vehicle power system.

It should be noted that, adapting to the layout architecture and design method of the power system of this type of unmanned aerial vehicle, according to the characteristics of the working mode and the large task demands of the suspended fixed wing unmanned aerial vehicle, a series type hybrid oil-electric suspended fixed wing unmanned aerial vehicle power system is provided, and the layout and connection mode of the power system are designed according to the characteristics of the selected power component: a double-output-shaft engine is selected, a propulsion propeller with a variable pitch is directly driven in series through the front end of a crankshaft of the engine, a three-phase permanent magnet generator is directly driven in series through the rear end of the crankshaft, the generator is connected with a three-phase rectifying device, alternating current is rectified into direct current, and a power battery is connected in parallel with the direct current output end to jointly supply power for a multi-rotor motor, so that a serial-parallel layout is formed.

And step S103, building a power system integrated verification platform, and performing a power system characteristic test on the unmanned power system.

In the aspect of a power system functional verification test design scheme, according to the working mode requirement, the power requirement, the task requirement and the power response requirement of the serial book oil-electricity hybrid lifting fixed wing unmanned aerial vehicle on the power system, a power system steady state characteristic test scheme is designed according to the working mode requirement and the power requirement, and the purpose is to explore the working characteristics and the power output condition of each steady state point of the power system in a full working condition interval; a dynamic characteristic test scheme of the power system is designed according to task requirements and power response requirements, and the purpose is to explore the power response capability of the power system. Meanwhile, for simplifying the research complexity of the power system, improving the research efficiency, abandoning the research of the traditional power system parts, and providing a power system integrated research method, namely, carrying out ground simulation fly-engine installation on the power system, building a power system integrated verification platform on the ground, realizing the full flight working condition and working mode of the series-connected oil-electricity hybrid vertical-lift fixed wing unmanned aerial vehicle, carrying out the design of the steady-state characteristic and dynamic characteristic verification test scheme of the power system based on the ground integrated verification platform, and obtaining test data closest to the real flight state of the vertical-lift fixed wing unmanned aerial vehicle under the condition of ensuring the safety of testers and equipment.

And step S104, constructing a power system simulation model based on the test data of the power system characteristic test.

It should be noted that, in the aspect of the simulation model construction and model verification method, according to the data representing the steady state characteristic and the dynamic characteristic of the power system obtained by the power system steady state characteristic and the dynamic characteristic test scheme set forth in the step S103, data processing and identification are performed, and a power system integrated steady state and dynamic simulation platform is constructed. Based on two factors affecting power output and response capability of the power system, determining that the input of the simulation platform is the input of the simulation platform, namely an engine throttle and an electric throttle (the ratio of the electric throttle input pulse width to the total pulse width range), so as to represent the output parameters of the power system: engine speed, power generation, battery charge and discharge power, engine fuel consumption rate and the like are used as the output of the simulation platform. In addition, a synchronous test comparison analysis method is provided, namely, a synchronous test is carried out on a physical platform and a simulation platform, the obtained two groups of test data are subjected to comparison analysis, and the following property and the matching degree of the two groups of data are verified, so that the accuracy and the reliability of the simulation platform are verified.

Step S105, verifying the correctness and reliability of the power system simulation model.

Having now known the basic working principles of the present invention, the following examples will further illustrate the feasibility and advancement of the invention in conjunction with specific experimental data.

The power system is designed according to a multi-rotor mode and a fixed-wing mode of the layout characteristics of the vertical fixed-wing unmanned aerial vehicle, and a specific type selection method is shown in fig. 2, namely:

According to the selected power assembly, the power system consists of an engine (piston engine), a generator, a battery, a rectifying device, an electronic speed regulator, an electric motor, a lifting rotor wing, a propulsion propeller and other power electronic equipment.

When the engine independently drives the generator to work, because the combustion of internal fuel needs a certain time, the power response is slower than that of a lithium battery, the power generation voltage characteristic is softer when the engine directly drives the generator to generate power, and the voltage drop is larger when the load is high, so that when the oil-electricity hybrid power system is designed, the engine and the generator are considered to be matched with the lithium battery to form the oil-electricity hybrid power system, the engine is used as a main energy source to provide energy for most working conditions of the unmanned aerial vehicle, and the battery is used as a secondary energy source and an electric energy center to charge and absorb the surplus energy of the engine by the generator and supplement power under the working condition of high demand power, so that the peak clipping and valley filling functions are achieved. Based on the characteristics, a topology structure of the power system of the oil-electricity hybrid lifting unmanned aerial vehicle shown in figure 3 is designed.

In order to carry out verification test research on the topology structure scheme, the drooping unmanned aerial vehicle with the takeoff weight of 15-20kg is taken as a research object, an adaptive power system is selected, and an integrated verification platform of the power system of the oil-electricity hybrid drooping unmanned aerial vehicle is built.

The system integrated verification platform comprises hardware and software, wherein the hardware design mainly comprises the type selection and control system design of the hardware. The hardware model selection principle can be divided into the following four points:

(1) The selected power plant output power meets the subject power demand.

(2) The propulsion device is selected to meet the subject's flat fly speed (lift) requirements.

(3) The selected actuator meets the power control system response requirements.

(4) The selected sensor assembly contains the system output parameter interval and meets the sampling requirements.

Based on the principle, the components of the verification platform are selected, in order to meet the measurement and control requirements of the verification platform and improve the reliability of the rack, a control scheme of centralized control and centralized management is adopted to divide the selected hardware into a management layer, a control layer and an equipment layer for control system design according to a network topology structure, and the specific hardware composition of the verification platform is shown in a table 1.

Table 1 verifies platform hardware composition

Part name	Model number
		Engine with a motor	DLE60 double-cylinder two-stroke piston engine
Starter motor	SURPASS-HOBBY3660 brushless motor
		Steering engine	TD-8120MG 20KG steering engine
Thrust propeller	Custom variable pitch propeller
		Electric generator	Permanent magnet brushless AC generator (3 KW)
Rectifier device	DLE ZL-200A
		Battery cell	3s/12s lithium ion battery
Motor with a motor housing having a motor housing with a motor housing	EA95
		Electric regulator	100A/120A
Lift rotor	3210 carbon fiber
		Remote controller	Ledi T8FB
Sensor for detecting a position of a body	Rotational speed/temperature/current/voltage/weighing etc

Based on the hardware composition, the power system ground integrated verification platform shown in fig. 4 is built through layout design and assembly.

The software design comprises two parts of control program design of the measurement and control system and software design of the PC end upper computer. The measurement and control system control program is mainly used for verifying the control and data acquisition of the platform control layer when the system operates; the PC end upper computer software is designed for completing data acquisition analysis, storage, system monitoring and man-machine interaction operation.

The verification platform adopts a MEGA2560 singlechip as a main control board of the measurement and control system and comprises an executing mechanism and a sensor group, wherein the executing mechanism is responsible for adjusting the working state of the power equipment, thereby changing the working condition of the power system; the sensor group is responsible for collecting the change of the output parameters of the power system caused by the change of the working state of the power equipment. The development schematic diagram of the lower computer measurement and control system is shown in fig. 5. The working state of the power system is changed by controlling the program of the execution assembly and the sensor assembly, and parameters such as engine speed, engine cylinder head temperature, engine fuel flow, power generation power, voltage, current, motor electric power, battery current, battery charge and discharge power, rotor lift force, rotor rotation speed and the like of the acquisition system are acquired, and meanwhile, the measurement and control system transmits the acquired parameters to the PC end upper computer and receives wireless command signals from the remote controller end. Therefore, the control program of the measurement and control system mainly comprises three parts: the design idea of the analog quantity acquisition, communication and control program and the measurement and control system control program is shown in fig. 6.

The PC end upper computer software is developed by LabVIEW, and the program design comprises a program block diagram and a front panel. The program block diagram is the source code of the upper computer program, the source code development thinking is to receive serial port data sent by the main control board, analyze whether the data is wrong or not, display and store the data on the front panel after the data is wrong, and meanwhile, the front panel instruction signal can be input and sent to the main control board to control the system, and the control flow development thinking of the upper computer is shown in fig. 7. The front panel is used for man-machine interaction, data display and instruction input and comprises the following parts: system state, real-time data, data curve display, control instruction display and debugging. The front panel (Chinese interface) of the upper computer is shown in FIG. 8.

The steady state characteristics of the power system can represent the operating characteristics of each steady state point of the power system in the full working condition interval. Through the design of a steady-state characteristic test scheme, a characteristic diagram representing the steady-state characteristic of the power system can be obtained, the steady-state characteristic diagram takes the engine accelerator and the rotor wing tension as coordinate axes, the diagram comprises an equal engine speed curve, an equal battery charge-discharge power curve, an equal power generation power curve and an equal engine fuel consumption rate curve, and the working states of the power system under different steady working conditions can be inquired through the diagram.

The test method for obtaining the steady-state characteristic diagram can be divided into two types, namely, the method one is to keep the engine throttle unchanged, and the engine rotation speed, battery charge and discharge power, power generation and engine fuel consumption rate corresponding to different rotor tensions under a certain engine throttle are measured by changing the rotor tension. And secondly, the tension of the rotor wing is kept unchanged, and parameters corresponding to different engine throttles under a certain rotor wing tension are measured by changing the engine throttle. The second method is selected because the working time of the engine in the first method is long, the working efficiency of the engine is influenced by the overtemperature of the cylinder head of the engine, and the data is inaccurate.

The tests were carried out herein within 0kg to 24kg of rotor pull and 0% to 100% of engine throttle. The engine throttle is taken as a measuring point every 10%, the rotor wing tension is taken as a measuring point every 3kg, after the system is started up each time, the rotor wing tension is regulated to a certain measuring point and is fixed, the working state of the power system is changed by changing the engine throttle, the power system is kept working for 1 minute under the state, and working parameters such as the engine speed, the battery charge and discharge power, the power generation power, the engine fuel consumption rate and the like of the power system under the steady state are measured, and a steady-state characteristic physical test operation flow chart is shown in figure 9.

Dynamic response capability of the power system can be represented by dynamic characteristics of the power system, and a dynamic simulation mathematical model capable of representing the dynamic response capability of the power system is obtained by designing a dynamic characteristic physical test and a simulation test scheme. Because the engine has the characteristics of nonlinearity and time-varying property, dynamic property tests are required to be carried out in different working condition intervals in order to obtain the dynamic property of the full working condition of the power system. The dynamic characteristic test is carried out in the working interval of 14kg to 20kg of rotor pulling force, wherein the working interval is commonly used in the power system, namely 60% to 90% of engine throttle. In the working condition interval, the power system has higher fuel economy and more stable output.

Three steady-state working points are selected in a normal working interval of the power system for testing, and the selected steady-state working points are shown in table 2. Since rotor tension is directly controlled by the magnitude of the input pulse width of an electronic governor (ESC), the input pulse width ranges from 1100 to 1940us. The pulse width range is converted into a ratio of 0-100% and is called as an electric throttle, and the electric throttle of the rotor wing tension at 14kg and 20kg is obtained through experiments to be about 50% and 60% respectively. Therefore, the test is divided into two steps, wherein the first step is an accelerator step test: and stabilizing the power system at the working point 1, keeping the electric throttle at 50% after 10 seconds, stepping the engine throttle to the working point 2, and collecting parameters of the rotating speed, the generating power and the battery charging and discharging power of the power system and outputting. Step two, an electrically controlled throttle step test: and stabilizing the power system at the working point 1, keeping the engine throttle unchanged after 10 seconds, stepping the electric throttle from 50% to 60%, stepping the system state from the working point 1 to the working point 3, and collecting the parameters of the rotating speed, the generating power and the battery charge and discharge power of the power system for output. The above test is repeated three times, and the results of the three tests are averaged to eliminate accidental factors, and the flow chart of the dynamic characteristic physical test operation is shown in fig. 10.

TABLE 2 3 steady state operating points for dynamic property test selection

Operating point	Engine throttle	Rotor wing tension	Electric throttle
				Point 1	60％	14.0kg	50％
Point 2	90％	14.0kg	50％
				Point 3	60％	20.0kg	60％

After the steady-state data are obtained, the collected data of the engine rotating speed, the battery charge and discharge power, the power generation power and the engine fuel consumption rate at different steady-state points can be subjected to least square fitting in MATLAB by taking the rotor wing tension and the engine throttle as independent variables, then a three-dimensional steady-state model of the power system based on the data is drawn, and the drawn three-dimensional steady-state model of the power system is shown in figure 11.

Two steady-state characteristic diagrams of the power system are drawn through a counter command and graphic processing of a three-dimensional model in MATLAB, a generated power-engine fuel consumption rate characteristic curve diagram shown in fig. 12 is obtained through combined projection of fig. 11- (A) and 11- (B), and an engine speed-battery charge-discharge power characteristic curve diagram shown in fig. 13 is obtained through combined projection of fig. 11- (C) and 11- (D). The envelope is drawn according to the working boundary of the engine and the overcharge-preventing boundary of the battery, and meanwhile, a curve with zero charge and discharge of the battery is taken as a boundary line to divide the characteristic diagram into a battery charging area and a battery discharging area.

The process of establishing the steady-state simulation model of the power system based on the physical test data of the steady-state characteristics of the power system and the steady-state characteristic diagram of the power system can be divided into two steps, wherein the first step is to establish a steady-state mathematical model of the power system, and the second step is to analyze the simulation result of the power system, and the establishment process of the steady-state characteristic simulation model is shown in fig. 14. And finally, establishing a two-input four-output power system steady-state simulation model taking the engine accelerator and the rotor wing tension as inputs and taking the engine rotating speed, the engine fuel consumption rate, the power generation power and the battery charge and discharge power as outputs in a SIMULINK through a test modeling method, wherein the finally established power system steady-state simulation model is shown in a figure 15.

Based on test data adopted by dynamic characteristic physical tests, 3 engine throttle step output response curves and 3 electrically-regulated throttle step output response curves with time as an X axis, and engine speed, battery charge and discharge power and power generation power as a Y axis can be drawn. The 3 engine throttle step output response curves are respectively brought into a MATLAB system identification tool box to carry out first-order inertial link time domain identification, 3 groups of first-order transfer functions taking engine throttle as input and engine speed, battery charge and discharge power and generating power as output can be obtained, and the other three groups of first-order transfer functions taking electric throttle as input can be obtained by carrying out the same treatment on the electric throttle step output response curves. The resulting 6 sets of first order transfer functions are shown in table 3.

Table 3 Power train first order transfer function after parameter identification

The parameter S in each of the formulas referred to in table 3 is a variable in the first order transfer function, derived from the laplace variation, representing the complex frequency response.

Based on table 3, a two-input three-output dynamic system dynamic simulation model taking engine throttle and electric throttle as input and engine speed, generating power and battery charge and discharge power as output is built in a SIMULINK, and simulation result analysis is carried out on the model. The flow chart of the dynamic characteristic simulation test is shown in fig. 16, and the built dynamic simulation model of the power system is shown in fig. 17.

And finally, verifying the power system steady-state simulation model and the power system dynamic simulation model constructed as above, wherein the verification comprises the comparison of the power system steady-state characteristic physical test result and the simulation test result and the comparison of the power system dynamic characteristic physical test result and the simulation test result.

Comparing the dynamic system steady state characteristic physical test result with the simulation test result:

and randomly selecting steady-state working points of the power system to carry out physical and simulation tests, and comparing the results of the physical and simulation tests to verify the feasibility of a steady-state characteristic test scheme and the reliability of a power system verification platform.

When the rotor wing tension is 15kg, 7 steady-state points of the engine accelerator are respectively subjected to physical and simulation tests at 40%, 50%, 60%, 70%, 80%, 90% and 100% respectively, so that test results and simulation results of the power system at different working condition points are obtained, a graph of comparing simulation results with physical results which takes the engine speed of the power system and the charge and discharge power of a battery as output is shown in fig. 18, and a graph of comparing simulation results with physical results which takes the fuel consumption rate of the engine and the power generation power as output is shown in fig. 19. Therefore, the simulation result and the verification platform physical result have high coincidence, the output parameters of the verification platform are stable and normal, and the test scheme is feasible.

Comparing the dynamic characteristic physical test result of the power system with the simulation test result:

and verifying the dynamic simulation model built in the previous step by a contrast test verification method, carrying out the step physical test of the engine throttle and the electrically regulated throttle again in the common working condition interval of the power system selected in the previous step, and carrying out the simulation test by adopting the same method. The initial working point is the working point 1, the engine throttle and the electric throttle are respectively stepped by adopting a control variable method, fig. 20 is a comparison between a physical test result and a simulation result of the variation of the output parameters of the power system when the engine throttle is stepped by 25% and the working point 1, and fig. 21 is a comparison between a physical test result and a simulation result of the variation of the output parameters of the power system when the engine throttle is stepped by 10% and the engine throttle is stepped by adopting a control variable method.

By analyzing the attached drawings 20-21, the engine speed is fast in response when the engine throttle is stepped, when the engine speed is increased, the power generation power of the power system is increased along with the increase of the engine speed, and the electric power required by the motor is unchanged as the electric throttle is unchanged, namely the tension of the rotor wing is unchanged, so that the redundant power generation power is used for battery charging, and the battery charging and discharging power becomes negative. When the accelerator is regulated by step electricity, the electric power required by the motor is increased, the charge and discharge power of the battery is quickly responded and increased, the power required by the power system is supplemented by the discharge of the battery, and the engine speed is slightly reduced due to the fact that the load of the generator end is increased, and the power generation power is reduced along with the reduction of the engine speed. And the coincidence degree of the physical test result and the simulation result is higher. Therefore, the built dynamic simulation model of the power system can well represent the dynamic characteristics of the power system, and the output parameters of the power system have higher stability under long-time working.

In summary, the present invention has at least the following technical effects:

(1) the method for selecting the power component equipment of the power system based on the multi-performance index requirement of the unmanned aerial vehicle considers the layout characteristics of the vertical fixed wing unmanned aerial vehicle and the working modes under different flight working conditions in a balanced mode, and performs the type selection work of the power component after fully considering the characteristics of different power components. The method is different from the prior art in that the prior art uses single task indexes such as the lifting unmanned aerial vehicle range endurance or the flying speed as requirements, and the integral optimization requirement of the unmanned aerial vehicle cannot be met at the same time after the single task index requirement of the unmanned aerial vehicle is met. Secondly, the aim of the prior art is mostly a 'pseudo-hybrid' vertical-up fixed wing unmanned aerial vehicle without energy flow relation between double power sources, and the method is aimed at a series-connection type oil-electricity hybrid vertical-up fixed wing unmanned aerial vehicle with power components such as an engine, a generator, a lithium battery and the like and forming the energy flow relation.

(2) The invention discloses a serial oil-electricity hybrid unmanned aerial vehicle power system layout design and construction method with an energy flow relation, which is different from the prior art in that the traditional construction design and layout method only takes an engine and a lithium battery as different power sources and simply combines and installs the engine and the lithium battery on a vertical fixed wing unmanned aerial vehicle, the purpose is to widen the endurance time of the unmanned aerial vehicle only by virtue of the advantage of high energy storage density of fuel oil, the energy utilization rate and efficiency of the whole machine are not considered, the technology of the invention takes the energy flow relation between the two power sources of the traditional 'pseudo hybrid' vertical fixed wing unmanned aerial vehicle as a design target, the selected engine and generator are considered to form an oil-electricity hybrid power system by matching with the lithium battery based on the key point (1), the engine is taken as a main energy source to supply energy for most working conditions of the unmanned aerial vehicle, and the battery is taken as an auxiliary energy source and an electric energy center, the battery can be charged by the generator to absorb the surplus energy of the engine, and the power can be supplemented under the working condition of high power requirement, and the effect of 'peak fill valley' is achieved. The oil-electricity isolation of the traditional vertical-up fixed wing unmanned aerial vehicle power system is truly broken.

(3) The power system integrated functional verification test scheme is characterized in that the working characteristics of the power system designed based on the technical key point (2) are researched by constructing a power system integrated verification platform and combining with test scheme design, and the power system integrated functional verification test scheme is different from the prior art in that the prior art mainly carries out part-by-part test research on each part of the power system, such as test characteristic research on an engine or a generator independently, and related technical means for carrying out ground simulation fly-by-fly installation on all power components of the power system according to actual working states and carrying out integrated test characteristic research are not seen.

(4) The method is characterized in that a simulation platform of a power system is built based on test data collected by a test data integrated test characteristic research institute and model correctness verification is carried out on the basis of a technical key point (3) of the verification platform. The method is different from the prior art in that the prior art models the power system at a component level, and finally all components are assembled into the simulation platform of the hybrid power system, but the method cannot be attached to the real working state of the power system as the technical means belongs to, and the accuracy of the whole model is not necessarily ensured.

The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The modeling method of the serial type oil-electricity hybrid vertical-up fixed wing unmanned aerial vehicle power system is characterized by comprising the following steps of:

verifying the correctness and reliability of the power system simulation model;

the system integrated verification platform comprises a wireless remote controller, a lower computer, an upper computer, a sensor group and an actuating mechanism, wherein the wireless remote controller is in signal connection with the lower computer so as to control the lower computer to send out control signals, the lower computer is in signal connection with the sensor group and the actuating mechanism so as to receive data detected by the sensor group and control the actuating mechanism to carry out a power system characteristic test according to a preset scheme, the lower computer is in signal connection with the upper computer so as to transmit various electric signals detected by the sensor group to the upper computer, the sensor group comprises a temperature sensor, a tension sensor, a weighing sensor, a rotating speed sensor, a current sensor and a voltage sensor, the actuating mechanism comprises a servo steering engine, a starting motor and an electronic speed regulator, the electronic speed regulator is connected with the starting motor, the starting motor is connected with an unmanned power system, and the lower computer and the sensor group are powered by a power battery of the unmanned system;

under the condition that steady state data acquisition is normal, adding 10% of throttle levers, and readjusting the throttle levers of the engine to enable the power system to output power, and acquiring data corresponding to different power system output powers until the throttle of the engine reaches the maximum position;

under the condition that the output of the power system parameters acquired by the upper computer is stable, the tension of the rotor wing is kept inconvenient, the wireless remote controller is regulated to regulate the power system to the working point 1 and stable after the throttle of the engine is stepped to the working point 2, the throttle of the engine is kept unchanged, and the wireless remote controller is regulated to regulate the power system to the working point 1 and stable after the tension of the rotor wing is stepped to the working point 3; observing whether the dynamic data acquisition is normal;

projecting the three-dimensional steady-state model to obtain a steady-state characteristic diagram of the power system; the steady-state characteristic diagram takes the engine throttle and the rotor wing tension as coordinate axes, the diagram comprises an equal engine speed curve, an equal battery charge-discharge power curve, an equal power generation power curve and an equal engine fuel consumption rate curve, and the working states of the power system under different steady working conditions can be inquired through the steady-state characteristic diagram;

establishing a steady-state simulation model based on the steady-state characteristic diagram of the power system;

the power system simulation model is built based on the test data of the power system characteristic test, and comprises the following steps:

establishing a dynamic simulation model based on the multiple groups of transfer functions;

The multiple groups of transfer functions are respectively as follows:

taking the engine throttle as input:

if the output is the engine speed, the first order transfer function is

If the output is the battery charge-discharge power, the first-order transfer function is

If the output is generated power, the first order transfer function is

Taking rotor tension as input:

if output is carried outThe first order transfer function is

If the output is generated power, the first order transfer function is

The parameter s in each transfer function is a variable in the first order transfer function, derived from the laplace variation, representing the complex frequency response.

2. The method of claim 1, wherein the unmanned aerial vehicle power system component comprises a motor, a generator, a rotor, an electronic governor, a three-phase fairing, a propulsion propeller, and a power battery, wherein the unmanned aerial vehicle power system component is determined according to a preset method based on unmanned aerial vehicle target requirements, comprising:

3. The method of claim 2, wherein the layout and connection manner of the unmanned power system obtained by assembling the unmanned power system components are as follows:

4. A tandem type oil-electricity hybrid vertical-up fixed wing unmanned aerial vehicle power system modeling device, characterized in that the device comprises:

the verification module is configured to verify the correctness and reliability of the power system simulation model;

The powertrain system integrated verification platform is further configured to:

The power system simulation model building module is further configured to:

the power system simulation model building module is further configured to:

the multiple groups of transfer functions are respectively as follows:

taking the engine throttle as input:

if the output is the engine speed, the first order transfer function is

If the output is generated power, the first order transfer function is

Taking rotor tension as input:

if the output is the engine speed, the first order transfer function is

If the output is generated power, the first order transfer function is

5. The apparatus of claim 4, wherein the unmanned power system component comprises a motor, a generator, a rotor, an electronic governor, a three-phase fairing, a propulsion propeller, and a power battery, the unmanned power system component determination module being further configured to:

6. The apparatus of claim 5, wherein the layout and connection of the unmanned aerial vehicle power system is as follows:

7. A non-transitory computer readable storage medium storing instructions which, when executed by a processor, perform the method of any one of claims 1 to 3.