CN117341976B - Comprehensive health management system of unmanned aerial vehicle - Google Patents
Comprehensive health management system of unmanned aerial vehicle Download PDFInfo
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- CN117341976B CN117341976B CN202311649362.9A CN202311649362A CN117341976B CN 117341976 B CN117341976 B CN 117341976B CN 202311649362 A CN202311649362 A CN 202311649362A CN 117341976 B CN117341976 B CN 117341976B
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Abstract
The invention relates to the field of comprehensive health management of unmanned aerial vehicles, and particularly discloses a comprehensive health management system of an unmanned aerial vehicle, which is used for analyzing an operation parameter characteristic curve and an operation parameter dangerous value corresponding to the historical failure of the power supply of the unmanned aerial vehicle by acquiring the historical failure information of the power supply of the unmanned aerial vehicle, comprehensively analyzing the health state evaluation coefficient of the power supply of the unmanned aerial vehicle by combining the proper operation parameters and the operation parameters of the current flight of the power supply of the unmanned aerial vehicle, comprehensively and deeply analyzing and evaluating the health state of the power supply of the unmanned aerial vehicle, and realizing effective tracking, monitoring and management of the power state of the unmanned aerial vehicle; the method comprises the steps of obtaining the change rate of the operation parameters of the unmanned aerial vehicle power supply and the normal value of the operation parameters of the unmanned aerial vehicle power supply in the current flight, analyzing the estimated residual life of the unmanned aerial vehicle power supply by combining the service life, the used time and the maintenance times of the unmanned aerial vehicle power supply, and improving the accuracy of the residual life prediction result of the unmanned aerial vehicle power supply.
Description
Technical Field
The invention relates to the field of comprehensive health management of unmanned aerial vehicles, in particular to a comprehensive health management system of an unmanned aerial vehicle.
Background
In recent years, as the time and distance for the unmanned aerial vehicle to execute the task are increased, the health state of the unmanned aerial vehicle may change at any time under the condition, and the health state of the unmanned aerial vehicle must be mastered in real time, especially when the health state of the unmanned aerial vehicle is deteriorated, corresponding measures can be taken in time, so that the unmanned aerial vehicle can complete the task better. Therefore, it is necessary to evaluate and manage the health status of the unmanned aerial vehicle system. The airborne power supply is used as an important subsystem of the unmanned aerial vehicle, and has practical significance for monitoring and managing the health state of the airborne power supply of the unmanned aerial vehicle.
The existing monitoring and management method for the health state of the unmanned aerial vehicle onboard power supply has some defects: in the first aspect, the existing method mainly adopts a mode of post-maintenance or regular maintenance, wherein the post-maintenance is guaranteed only after the power supply of the unmanned aerial vehicle fails, and the post-maintenance cost is higher for the expensive equipment such as the power supply of the unmanned aerial vehicle; regular maintenance is performed according to a predetermined maintenance period, and the actual state of the power supply is ignored, so that the situations of excessive maintenance, insufficient maintenance and the like may occur.
In the second aspect, when the health state of the unmanned aerial vehicle power supply is estimated, by comparing the operation parameters of the unmanned aerial vehicle power supply with the set threshold or reference value, the historical fault information is not fully utilized, the operation state of the power supply device is compared with the operation state corresponding to the historical fault based on feature analysis, and the similarity between the operation state of the power supply device and the operation state of the historical fault is sought, so that the estimation system of the health state of the unmanned aerial vehicle power supply cannot be supplemented and perfected, and the reliability of the estimation result of the health state of the unmanned aerial vehicle power supply is insufficient.
In the third aspect, when the residual life of the unmanned aerial vehicle power supply equipment is predicted, the existing method mainly obtains a conclusion according to the nominal service life and the used time of the unmanned aerial vehicle power supply equipment, and does not combine the attenuation rate condition of the operating parameters of the unmanned aerial vehicle power supply equipment to carry out comprehensive analysis, so that the predicted residual life of the unmanned aerial vehicle power supply equipment has larger deviation compared with a true value.
Disclosure of Invention
Aiming at the problems, the invention provides an unmanned aerial vehicle comprehensive health management system which realizes the function of comprehensive health management of unmanned aerial vehicles.
The technical scheme adopted for solving the technical problems is as follows: the invention provides an unmanned aerial vehicle comprehensive health management system, which comprises: the first abnormal coefficient analysis module of the power supply operation parameters: the method comprises the steps of acquiring operation parameters of power equipment at each sampling time point in the current flight process of the target unmanned aerial vehicle, wherein the operation parameters comprise output voltage, output current and temperature, acquiring an operation parameter characteristic curve corresponding to each historical fault of the power equipment of the target unmanned aerial vehicle, and analyzing a first abnormal coefficient of the operation parameters of the power equipment in the current flight process of the target unmanned aerial vehicle.
The second abnormal coefficient analysis module of the power supply operation parameters: the method is used for acquiring the dangerous value of the operation parameter corresponding to each historical fault of the power equipment of the target unmanned aerial vehicle, and analyzing the second abnormal coefficient of the operation parameter of the power equipment in the current flight process of the target unmanned aerial vehicle by combining the operation parameter of the power equipment at each sampling time point in the current flight process of the target unmanned aerial vehicle.
The third abnormal coefficient analysis module of the power supply operation parameters: the method is used for analyzing a third abnormal coefficient of the operation parameters of the power supply equipment in the current flight process of the target unmanned aerial vehicle according to the suitable output voltage, the suitable output current and the early warning temperature of the power supply equipment of the target unmanned aerial vehicle and the operation parameters of the power supply equipment at each sampling time point in the current flight process of the target unmanned aerial vehicle.
The comprehensive evaluation module for the health state of the power supply comprises: and the system is used for analyzing the health state evaluation coefficient of the power supply equipment of the target unmanned aerial vehicle according to the first abnormal coefficient, the second abnormal coefficient and the third abnormal coefficient of the operation parameters of the power supply equipment in the current flight process of the target unmanned aerial vehicle and feeding back the health state evaluation coefficient.
The power supply residual life prediction analysis module: the method comprises the steps of acquiring a reference change rate of the operating parameters of power supply equipment of the target unmanned aerial vehicle and a normal value of the operating parameters of the power supply equipment of the target unmanned aerial vehicle in current flight, analyzing a first reference residual life of the power supply equipment of the target unmanned aerial vehicle, acquiring the service life, used duration and maintenance times of the power supply equipment of the target unmanned aerial vehicle, further acquiring the estimated residual life of the power supply equipment of the target unmanned aerial vehicle, and feeding back.
Database: the method is used for storing the proper output voltage, proper output current and early warning temperature of the target unmanned aerial vehicle power supply equipment.
On the basis of the foregoing embodiment, the specific analysis process of the first abnormal coefficient analysis module for the power supply operating parameter includes: setting each sampling time point in the current flight process of the target unmanned aerial vehicle according to a preset equal time interval principle, acquiring the output voltage, the output current and the temperature of power supply equipment at each sampling time point in the current flight process of the target unmanned aerial vehicle through a sensor, and respectively marking the output voltage, the output current and the temperature as，/>Indicate->Number of the sampling time points, +.>。
And drawing an output voltage characteristic curve of the power supply equipment in the current flight process of the target unmanned aerial vehicle according to the output voltage of the power supply equipment at each sampling time point in the current flight process of the target unmanned aerial vehicle.
And similarly, obtaining a characteristic curve of the output current and the temperature of the power supply equipment in the current flight process of the target unmanned aerial vehicle.
And acquiring historical fault information of the power supply equipment of the target unmanned aerial vehicle, and further acquiring characteristic curves of output voltage, output current and temperature corresponding to each historical fault of the power supply equipment of the target unmanned aerial vehicle.
On the basis of the foregoing embodiment, the specific analysis process of the first abnormal coefficient analysis module for the power supply operating parameter further includes: and comparing the output voltage characteristic curve of the power supply equipment in the current flight process of the target unmanned aerial vehicle with the output voltage characteristic curve corresponding to each historical fault of the power supply equipment of the target unmanned aerial vehicle to obtain the similarity of the output voltage characteristic curve of the power supply equipment in the current flight process of the target unmanned aerial vehicle and the output voltage characteristic curve corresponding to each historical fault of the power supply equipment of the target unmanned aerial vehicle.
By analysis of formulasObtaining a first abnormal coefficient of the output voltage of the power supply equipment in the current flight process of the target unmanned aerial vehicle>Wherein->Correction factor representing a first abnormality factor of a preset output voltage, +.>Representing output voltage characteristic curve of power supply equipment and history of power supply equipment of target unmanned aerial vehicle in current flight process +.>Similarity of the output voltage characteristic curves corresponding to the secondary faults,/->，/>And representing a preset similarity threshold value of the output voltage characteristic curve.
Similarly, acquiring a first abnormal coefficient of output current and a first abnormal coefficient of temperature of power supply equipment in the current flight process of the target unmanned aerial vehicle, and respectively marking the first abnormal coefficient and the first abnormal coefficient as。
On the basis of the foregoing embodiment, the specific analysis process of the second abnormal coefficient analysis module for the power supply operating parameter includes: according to the historical fault information of the target unmanned aerial vehicle power supply equipment, acquiring dangerous output voltage, dangerous output current and dangerous temperature corresponding to each historical fault of the target unmanned aerial vehicle power supply equipment, and respectively marking the dangerous output voltage, dangerous output current and dangerous temperature as、/>And->。
On the basis of the foregoing embodiment, the specific analysis process of the second abnormal coefficient analysis module for the power supply operating parameter further includes: by analysis of formulasObtaining dangerous trend coefficient of power supply equipment output voltage at each sampling time point in the current flight process of the target unmanned aerial vehicle>，/>A threshold value representing a difference between a preset power supply device output voltage and a dangerous output voltage.
According to the dangerous trend coefficient of the output voltage of the power supply equipment at each sampling time point in the current flight process of the target unmanned aerial vehicle, a second abnormal coefficient of the output voltage of the power supply equipment in the current flight process of the target unmanned aerial vehicle is obtained and is recorded as。
Similarly, obtaining a second abnormal coefficient of the output current and a second abnormal coefficient of the temperature of the power supply equipment in the current flight process of the target unmanned aerial vehicle, and respectively marking the second abnormal coefficient and the second abnormal coefficient asAnd->。
On the basis of the foregoing embodiment, the specific analysis process of the third abnormal coefficient analysis module for the power supply operating parameter is: extracting proper output voltage, proper output current and early warning temperature of target unmanned aerial vehicle power supply equipment stored in a database, and respectively marking the proper output voltage, proper output current and early warning temperature as。
By analysis of formulasObtaining
Third abnormal coefficient of output voltage of power supply equipment in current flight process of target unmanned aerial vehicleWherein->Represents the number of sampling time points, +.>Representing natural constant->Representing a preset deviation of the output voltage unit of the power supply deviceCorresponding influencing factors, < >>Indicating the +.>Output voltage of the power supply device at sampling time points, < >>Indicating the +.>The output voltage of the power supply device is sampled at a time point.
Similarly, a third abnormal coefficient of the output current of the power supply equipment in the current flight process of the target unmanned aerial vehicle is obtained and is recorded as。
Acquiring a third abnormal coefficient of the temperature of the power supply equipment in the current flight process of the target unmanned aerial vehicle, and recording the third abnormal coefficient as。
Based on the above embodiment, the specific analysis process of the comprehensive evaluation module for the health status of the power supply is as follows: by analysis of formulasObtaining the output voltage coincidence coefficient of the power supply equipment of the target unmanned aerial vehicleWherein->The weights of the first abnormal coefficient, the second abnormal coefficient and the third abnormal coefficient of the preset output voltage are respectively represented.
Similarly, the coincidence coefficients of the output current and the temperature of the target unmanned aerial vehicle power supply equipment are obtained and respectively recorded as。
By analysis of formulasObtaining a health state evaluation coefficient of the power supply equipment of the target unmanned aerial vehicle>Wherein->A correction factor representing a preset health status evaluation coefficient of the power supply device,and respectively representing the weight values of the output voltage, the output current and the temperature of the preset power supply equipment, and feeding the weight values back to the remote monitoring terminal of the target unmanned aerial vehicle.
On the basis of the above embodiment, the specific analysis process of the power supply remaining life prediction analysis module includes: acquiring historical operation information of the target unmanned aerial vehicle power supply equipment, obtaining corresponding values of the historical operation time output voltage, output current and temperature of the target unmanned aerial vehicle power supply equipment when the historical operation time output voltage, output current and temperature of the target unmanned aerial vehicle power supply equipment are stable, recording the values as normal values of the historical operation time output voltage, output current and temperature of the target unmanned aerial vehicle power supply equipment, and respectively representing the values as，/>Indicate history +.>Number of secondary run,/->Acquiring the time interval between each operation of the power supply equipment of the target unmanned aerial vehicle and the next operation, and recording the time interval as +.>。
By analysis of formulasObtaining the historical output voltage drop rate of each running of the power supply equipment of the target unmanned aerial vehicle>Wherein->Representing historical +.>And outputting a normal value of the voltage in the next operation.
Similarly, the output current falling rate of each time of historical operation of the power supply equipment of the target unmanned aerial vehicle is obtained and is recorded as。
Acquiring the historical temperature rise rate of each running of the power supply equipment of the target unmanned aerial vehicle, and recording the historical temperature rise rate as。
According to the historical output voltage falling rate of each operation of the power supply equipment of the target unmanned aerial vehicle, obtaining the output voltage reference falling rate of the power supply equipment of the target unmanned aerial vehicle, and recording the output voltage reference falling rate as。
Similarly, the output current reference falling rate and the temperature reference rising rate of the target unmanned aerial vehicle power supply equipment are obtained and respectively recorded as。
Acquiring the output voltage, output current and normal values of temperature of power supply equipment in the current flight of the target unmanned aerial vehicle, and respectively marking the output voltage, the output current and the normal values as。
By analysis of formulasObtaining a first reference remaining lifetime of the target unmanned aerial vehicle power supply device>Wherein->Respectively representing the limit values of output voltage, output current and temperature corresponding to the normal operation of the power supply equipment of the preset target unmanned aerial vehicle>，/>，/>。
On the basis of the foregoing embodiment, the specific analysis process of the power supply remaining life prediction analysis module further includes: obtaining the service life and the used time of the target unmanned aerial vehicle power supply equipment, obtaining the residual use time of the target unmanned aerial vehicle power supply equipment, marking the residual use time as the second reference residual life of the target unmanned aerial vehicle power supply equipment, and representing the second reference residual life as。
Acquiring the maintenance times of the power supply equipment of the target unmanned aerial vehicle and recording the maintenance times as。
By analysis of formulasObtaining estimated remaining life of power equipment of target unmanned aerial vehicle>，/>Weights respectively representing a preset first reference remaining life and a second reference remaining life, ++>，/>Correction amounts respectively representing estimated remaining life of preset target unmanned aerial vehicle power supply equipment, +.>And representing an influence factor corresponding to the preset unit maintenance times, and feeding the influence factor back to the remote monitoring terminal of the target unmanned aerial vehicle.
Compared with the prior art, the comprehensive health management system for the unmanned aerial vehicle has the following beneficial effects: 1. according to the invention, through collecting the operation information of the unmanned aerial vehicle power supply equipment in the current flight process in real time, the health state of the unmanned aerial vehicle power supply equipment is comprehensively and deeply analyzed and evaluated, so that the effective tracking, monitoring and management of the health state of the unmanned aerial vehicle power supply equipment are realized, the unmanned aerial vehicle power supply equipment can be further maintained in advance and optionally maintained, the early taking of measures is facilitated, and the maintenance cost is reduced.
2. According to the method, the historical fault information of the unmanned aerial vehicle power supply is obtained, the operation parameter characteristic curve and the operation parameter dangerous value corresponding to the historical fault of the unmanned aerial vehicle power supply are analyzed, the proper operation parameters of the unmanned aerial vehicle power supply and the operation parameters of the current flight process are combined, the health state evaluation coefficient of the unmanned aerial vehicle power supply is comprehensively analyzed, the health state of the unmanned aerial vehicle power supply is comprehensively and deeply analyzed and evaluated, the evaluation system of the health state of the unmanned aerial vehicle power supply is further perfected, the reliability of the evaluation result of the health state of the unmanned aerial vehicle power supply is improved, and therefore effective tracking, monitoring and management of the health state of the unmanned aerial vehicle power supply are achieved.
3. According to the unmanned aerial vehicle power supply prediction method, the estimated residual life of the unmanned aerial vehicle power supply is analyzed by acquiring the reference change rate of the operation parameters of the unmanned aerial vehicle power supply and the normal state value of the operation parameters of the unmanned aerial vehicle power supply in the current flight and combining the service life, the used time and the maintenance times of the unmanned aerial vehicle power supply, the residual life of the unmanned aerial vehicle power supply is deeply analyzed and evaluated from multiple dimensions, the accuracy of the unmanned aerial vehicle power supply residual life prediction result is improved, and errors are reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a diagram illustrating a system module connection according to the present invention.
Detailed Description
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. 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.
Referring to fig. 1, the invention provides an unmanned aerial vehicle comprehensive health management system, which comprises a first abnormal coefficient analysis module of power supply operation parameters, a second abnormal coefficient analysis module of power supply operation parameters, a third abnormal coefficient analysis module of power supply operation parameters, a comprehensive power supply health state evaluation module, a residual life prediction analysis module of power supply and a database.
The power supply health state comprehensive evaluation module is respectively connected with the power supply operation parameter first abnormal coefficient analysis module, the power supply operation parameter second abnormal coefficient analysis module and the power supply operation parameter third abnormal coefficient analysis module, the power supply residual life prediction analysis module is connected with the power supply health state comprehensive evaluation module, and the database is connected with the power supply operation parameter third abnormal coefficient analysis module.
The first abnormal coefficient analysis module of the power supply operation parameters is used for obtaining the operation parameters of the power supply equipment at each sampling time point in the current flight process of the target unmanned aerial vehicle, wherein the operation parameters comprise output voltage, output current and temperature, obtaining the operation parameter characteristic curves corresponding to the historical faults of the power supply equipment of the target unmanned aerial vehicle, and analyzing the first abnormal coefficients of the operation parameters of the power supply equipment in the current flight process of the target unmanned aerial vehicle.
Further, the specific analysis process of the first abnormal coefficient analysis module of the power supply operation parameter comprises the following steps: setting each sampling time point in the current flight process of the target unmanned aerial vehicle according to a preset equal time interval principle, acquiring the output voltage, the output current and the temperature of power supply equipment at each sampling time point in the current flight process of the target unmanned aerial vehicle through a sensor, and respectively marking the output voltage, the output current and the temperature as，/>Indicate->Number of the sampling time points, +.>。
And drawing an output voltage characteristic curve of the power supply equipment in the current flight process of the target unmanned aerial vehicle according to the output voltage of the power supply equipment at each sampling time point in the current flight process of the target unmanned aerial vehicle.
As a preferable scheme, the method for drawing the characteristic curve of the output voltage of the power supply equipment in the current flight process of the target unmanned aerial vehicle comprises the following steps: and establishing a coordinate system by taking the sampling time points as independent variables and the output voltage as dependent variables, marking corresponding data points in the coordinate system according to the output voltage of the power supply equipment at each sampling time point in the current flight process of the target unmanned aerial vehicle, drawing a curve of the change of the output voltage of the power supply equipment along with time in the current flight process of the target unmanned aerial vehicle by using a mathematical model establishing method, and marking the curve as an output voltage characteristic curve of the power supply equipment in the current flight process of the target unmanned aerial vehicle.
And similarly, obtaining a characteristic curve of the output current and the temperature of the power supply equipment in the current flight process of the target unmanned aerial vehicle.
And acquiring historical fault information of the power supply equipment of the target unmanned aerial vehicle, and further acquiring characteristic curves of output voltage, output current and temperature corresponding to each historical fault of the power supply equipment of the target unmanned aerial vehicle.
As a preferable scheme, the characteristic curves of the output voltage, the output current and the temperature corresponding to each historical fault of the power supply equipment of the target unmanned aerial vehicle are obtained, and the specific method comprises the following steps: the method comprises the steps of obtaining historical fault information of power equipment of a target unmanned aerial vehicle, obtaining output voltage information, output current information and temperature information of the power equipment from starting to a fault process when the power equipment of the target unmanned aerial vehicle has historical faults for each time, and further obtaining characteristic curves of output voltage, output current and temperature corresponding to the historical faults of the power equipment of the target unmanned aerial vehicle.
In another embodiment, the power supply device of the target unmanned aerial vehicle is a power supply system of the target unmanned aerial vehicle.
As a preferable scheme, the output voltage, the output current and the temperature of the power supply device of the target unmanned aerial vehicle can be obtained through a voltmeter, an ammeter and a temperature sensor.
As a preferable scheme, the temperature of the power equipment of the target unmanned aerial vehicle refers to the temperature of the surface of the power equipment, each detection point can be arranged on the surface of the power equipment, and the highest temperature of the detection points on the surface of the power equipment is taken as the temperature of the power equipment.
Further, the specific analysis process of the first abnormal coefficient analysis module of the power supply operation parameter further comprises: and comparing the output voltage characteristic curve of the power supply equipment in the current flight process of the target unmanned aerial vehicle with the output voltage characteristic curve corresponding to each historical fault of the power supply equipment of the target unmanned aerial vehicle to obtain the similarity of the output voltage characteristic curve of the power supply equipment in the current flight process of the target unmanned aerial vehicle and the output voltage characteristic curve corresponding to each historical fault of the power supply equipment of the target unmanned aerial vehicle.
As a preferred embodiment, the similarity of the output voltage characteristic curves means the similarity of the line shapes of the output voltage characteristic curves.
By analysis of formulasObtaining a first abnormal coefficient of the output voltage of the power supply equipment in the current flight process of the target unmanned aerial vehicle>Wherein->Correction factor representing a first abnormality factor of a preset output voltage, +.>Representing output voltage characteristic curve of power supply equipment and history of power supply equipment of target unmanned aerial vehicle in current flight process +.>Similarity of the output voltage characteristic curves corresponding to the secondary faults,/->，/>And representing a preset similarity threshold value of the output voltage characteristic curve.
Similarly, acquiring a first abnormal coefficient of output current and a first abnormal coefficient of temperature of power supply equipment in the current flight process of the target unmanned aerial vehicle, and respectively marking the first abnormal coefficient and the first abnormal coefficient as。
The second abnormal coefficient analysis module of the power supply operation parameters: the method is used for acquiring the dangerous value of the operation parameter corresponding to each historical fault of the power equipment of the target unmanned aerial vehicle, and analyzing the second abnormal coefficient of the operation parameter of the power equipment in the current flight process of the target unmanned aerial vehicle by combining the operation parameter of the power equipment at each sampling time point in the current flight process of the target unmanned aerial vehicle.
Further, the specific analysis process of the second abnormal coefficient analysis module of the power supply operation parameter comprises the following steps: according to the historical fault information of the target unmanned aerial vehicle power supply equipment, acquiring dangerous output voltage, dangerous output current and dangerous temperature corresponding to each historical fault of the target unmanned aerial vehicle power supply equipment, and respectively marking the dangerous output voltage, dangerous output current and dangerous temperature as、/>And->。
As a preferable scheme, dangerous output voltage, dangerous output current and dangerous temperature corresponding to each historical fault of the target unmanned aerial vehicle power supply equipment are obtained, and the specific method comprises the following steps: according to the historical fault information of the power supply equipment of the target unmanned aerial vehicle, the output voltage, the output current and the temperature which are detected last before the power supply equipment fails when the power supply equipment of the target unmanned aerial vehicle fails each time in the history are obtained and respectively recorded as dangerous output voltage, dangerous output current and dangerous temperature corresponding to the power supply equipment of the target unmanned aerial vehicle.
Further, the specific analysis process of the second abnormal coefficient analysis module of the power supply operation parameter further comprises: by analysis of formulasObtaining dangerous trend coefficient of power supply equipment output voltage at each sampling time point in the current flight process of the target unmanned aerial vehicle>，/>A threshold value representing a difference between a preset power supply device output voltage and a dangerous output voltage.
According to each sampling in the current flight process of the target unmanned aerial vehicleObtaining a dangerous trend coefficient of the output voltage of the power supply equipment at the time point, obtaining a second abnormal coefficient of the output voltage of the power supply equipment in the current flight process of the target unmanned aerial vehicle, and recording the second abnormal coefficient as。
Similarly, obtaining a second abnormal coefficient of the output current and a second abnormal coefficient of the temperature of the power supply equipment in the current flight process of the target unmanned aerial vehicle, and respectively marking the second abnormal coefficient and the second abnormal coefficient asAnd->。
As a preferable scheme, the method for acquiring the second abnormal coefficient of the output voltage of the power supply device in the current flight process of the target unmanned aerial vehicle specifically comprises the following steps: and comparing the dangerous trend coefficients of the power supply equipment output voltage at each sampling time point in the current flight process of the target unmanned aerial vehicle to obtain the maximum dangerous trend coefficient of the power supply equipment output voltage at the sampling time point in the current flight process of the target unmanned aerial vehicle, and marking the maximum dangerous trend coefficient as the second abnormal coefficient of the power supply equipment output voltage in the current flight process of the target unmanned aerial vehicle.
The power supply operation parameter third abnormal coefficient analysis module is used for analyzing the operation parameter third abnormal coefficient of the power supply equipment in the current flight process of the target unmanned aerial vehicle according to the proper output voltage, the proper output current and the early warning temperature of the power supply equipment of the target unmanned aerial vehicle and combining the operation parameters of the power supply equipment at each sampling time point in the current flight process of the target unmanned aerial vehicle.
Further, the specific analysis process of the third abnormal coefficient analysis module of the power supply operation parameter is as follows: extracting proper output voltage, proper output current and early warning temperature of target unmanned aerial vehicle power supply equipment stored in a database, and respectively marking the proper output voltage, proper output current and early warning temperature as。
By analysis of formulasObtaining
Third abnormal coefficient of output voltage of power supply equipment in current flight process of target unmanned aerial vehicleWherein->Represents the number of sampling time points, +.>Representing natural constant->Indicating the corresponding influence factor of the deviation of the preset power supply unit output voltage unit, < >>Indicating the +.>Output voltage of the power supply device at sampling time points, < >>Indicating the +.>The output voltage of the power supply device is sampled at a time point.
Similarly, a third abnormal coefficient of the output current of the power supply equipment in the current flight process of the target unmanned aerial vehicle is obtained and is recorded as。
Acquiring a third abnormal coefficient of the temperature of the power supply equipment in the current flight process of the target unmanned aerial vehicle, and recording the third abnormal coefficient as。
As a good resultThe method comprises the steps of obtaining a third abnormal coefficient of the temperature of power supply equipment in the current flight process of the target unmanned aerial vehicle, wherein the specific method comprises the following steps: by analysis of formulasObtaining
Third abnormal coefficient of temperature of power supply equipment in current flight process of target unmanned aerial vehicleWherein->Deviation threshold value representing the temperature of a preset power supply device,/->Indicating the +.>Temperature of the power supply device at the sampling time points, +.>Indicating the +.>The temperature of the power supply device at each sampling point in time.
The comprehensive power supply health state evaluation module is used for analyzing the health state evaluation coefficient of the power supply equipment of the target unmanned aerial vehicle according to the first abnormal coefficient, the second abnormal coefficient and the third abnormal coefficient of the operation parameters of the power supply equipment in the current flight process of the target unmanned aerial vehicle and feeding back the health state evaluation coefficient.
Further, the specific analysis process of the comprehensive evaluation module for the health state of the power supply is as follows: by analysis of formulasObtaining the output voltage coincidence coefficient of the power supply equipment of the target unmanned aerial vehicle>WhereinThe weights of the first abnormal coefficient, the second abnormal coefficient and the third abnormal coefficient of the preset output voltage are respectively represented.
Similarly, the coincidence coefficients of the output current and the temperature of the target unmanned aerial vehicle power supply equipment are obtained and respectively recorded as。
By analysis of formulasObtaining a health state evaluation coefficient of the power supply equipment of the target unmanned aerial vehicle>Wherein->A correction factor representing a preset health status evaluation coefficient of the power supply device,and respectively representing the weight values of the output voltage, the output current and the temperature of the preset power supply equipment, and feeding the weight values back to the remote monitoring terminal of the target unmanned aerial vehicle.
By acquiring the historical fault information of the unmanned aerial vehicle power supply, the method analyzes the characteristic curve of the operation parameter and the dangerous value of the operation parameter corresponding to the historical fault of the unmanned aerial vehicle power supply, comprehensively analyzes the health state evaluation coefficient of the unmanned aerial vehicle power supply by combining the proper operation parameter of the unmanned aerial vehicle power supply and the operation parameter of the current flight process, comprehensively and deeply analyzes and evaluates the health state of the unmanned aerial vehicle power supply, further perfects the evaluation system of the health state of the unmanned aerial vehicle power supply, improves the reliability of the evaluation result of the health state of the unmanned aerial vehicle power supply, and further realizes effective tracking, monitoring and management of the health state of the unmanned aerial vehicle power supply.
By collecting the operation information of the unmanned aerial vehicle power supply equipment in the current flight process in real time, the invention comprehensively and deeply analyzes and evaluates the health state of the unmanned aerial vehicle power supply equipment, realizes effective tracking, monitoring and management of the health state of the unmanned aerial vehicle power supply equipment, further can perform advanced maintenance and optionally maintenance on the unmanned aerial vehicle power supply equipment, is beneficial to taking measures in advance and reduces maintenance cost.
The power supply residual life prediction analysis module is used for acquiring the reference change rate of the operating parameters of the power supply equipment of the target unmanned aerial vehicle and the normal value of the operating parameters of the power supply equipment of the target unmanned aerial vehicle in the current flight, analyzing the first reference residual life of the power supply equipment of the target unmanned aerial vehicle, acquiring the service life, the used time and the maintenance times of the power supply equipment of the target unmanned aerial vehicle, further acquiring the predicted residual life of the power supply equipment of the target unmanned aerial vehicle, and feeding back.
Further, the specific analysis process of the power supply residual life prediction analysis module comprises the following steps: acquiring historical operation information of the target unmanned aerial vehicle power supply equipment, obtaining corresponding values of the historical operation time output voltage, output current and temperature of the target unmanned aerial vehicle power supply equipment when the historical operation time output voltage, output current and temperature of the target unmanned aerial vehicle power supply equipment are stable, recording the values as normal values of the historical operation time output voltage, output current and temperature of the target unmanned aerial vehicle power supply equipment, and respectively representing the values as，/>Indicate history +.>Number of secondary run,/->Acquiring the time interval between each operation of the power supply equipment of the target unmanned aerial vehicle and the next operation, and recording the time interval as +.>。
By analysis of formulasObtaining the historical output voltage drop rate of each running of the power supply equipment of the target unmanned aerial vehicle>Wherein->Representing historical +.>And outputting a normal value of the voltage in the next operation.
Similarly, the output current falling rate of each time of historical operation of the power supply equipment of the target unmanned aerial vehicle is obtained and is recorded as。
Acquiring the historical temperature rise rate of each running of the power supply equipment of the target unmanned aerial vehicle, and recording the historical temperature rise rate as。
As a preferable scheme, the method for acquiring the historical temperature rise rate of each operation of the power supply equipment of the target unmanned aerial vehicle comprises the following steps of: by analysis of formulasObtaining the historical temperature rising rate of each running of the power supply equipment of the target unmanned aerial vehicle>Wherein->Representing historical +.>Normal value of temperature at secondary operation.
Obtaining the power supply of the target unmanned aerial vehicle according to the historical output voltage drop rate of the power supply equipment of the target unmanned aerial vehicle in each operationThe output voltage of the device is referenced to the rate of fall, which is noted as。
As a preferred scheme, the method for acquiring the output voltage reference dropping rate of the target unmanned aerial vehicle power supply device comprises the following steps: comparing the output voltage dropping rates of the historical operation of the power supply equipment of the target unmanned aerial vehicle with each other to obtain the mode of the output voltage dropping rate of the historical operation of the power supply equipment of the target unmanned aerial vehicle, and recording the mode as the output voltage reference dropping rate of the power supply equipment of the target unmanned aerial vehicle.
Similarly, the output current reference falling rate and the temperature reference rising rate of the target unmanned aerial vehicle power supply equipment are obtained and respectively recorded as。
Acquiring the output voltage, output current and normal values of temperature of power supply equipment in the current flight of the target unmanned aerial vehicle, and respectively marking the output voltage, the output current and the normal values as。
By analysis of formulasObtaining a first reference remaining lifetime of the target unmanned aerial vehicle power supply device>Wherein->Respectively representing the limit values of output voltage, output current and temperature corresponding to the normal operation of the power supply equipment of the preset target unmanned aerial vehicle>，/>，/>。
As a preferable scheme, the historical operation information of the power supply equipment of the target unmanned aerial vehicle is the operation information of the power supply equipment during the historical flight of the target unmanned aerial vehicle.
As a preferable scheme, the method for acquiring the corresponding values of the output voltage, the output current and the temperature stability of the power supply equipment of the target unmanned aerial vehicle in each time of operation comprises the following steps: taking the example of obtaining the corresponding value when the output voltage is stable when the power equipment of the target unmanned aerial vehicle runs for a certain time: the method comprises the steps of obtaining output voltages of the target unmanned aerial vehicle power supply equipment at each time in the historical running, further obtaining two times when the difference value of the output voltages at two adjacent times appears for the first time and belongs to the set allowable fluctuation range of the output voltages, respectively marking the two times as a first marking time and a second marking time, carrying out average value calculation on the output voltages at the first marking time and the second marking time, obtaining corresponding values when the output voltages of the target unmanned aerial vehicle power supply equipment are stable in the historical running, and further obtaining corresponding values when the output voltages, the output currents and the temperatures of the target unmanned aerial vehicle power supply equipment are stable in the historical running.
As a preferred scheme, the target unmanned aerial vehicle power supply equipment history firstThe interval duration between the next operation and the next adjacent operation is the historical +.>The duration of the interval between the secondary run and the current run.
As a preferable scheme, the method for acquiring the normal values of the output voltage, the output current and the temperature of the power supply equipment of the target unmanned aerial vehicle in the current flight is the same as the method for acquiring the normal values of the output voltage, the output current and the temperature of the power supply equipment of the target unmanned aerial vehicle in each historical operation, and the principle is the same.
Further, the specific analysis process of the power supply residual life prediction analysis module further comprises: acquiring target unmanned aerial vehicle power supply deviceThe service life and the used time length of the standby are obtained, the residual service time length of the power supply equipment of the target unmanned aerial vehicle is obtained, and the residual service time length is recorded as a second reference residual service life of the power supply equipment of the target unmanned aerial vehicle and expressed as。
Acquiring the maintenance times of the power supply equipment of the target unmanned aerial vehicle and recording the maintenance times as。
By analysis of formulasObtaining estimated remaining life of power equipment of target unmanned aerial vehicle>，/>Weights respectively representing a preset first reference remaining life and a second reference remaining life, ++>，/>Correction amounts respectively representing estimated remaining life of preset target unmanned aerial vehicle power supply equipment, +.>And representing an influence factor corresponding to the preset unit maintenance times, and feeding the influence factor back to the remote monitoring terminal of the target unmanned aerial vehicle.
By acquiring the reference change rate of the operation parameters of the unmanned aerial vehicle power supply and the normal value of the power supply operation parameters of the unmanned aerial vehicle in the current flight, the estimated remaining life of the unmanned aerial vehicle power supply is analyzed in combination with the service life, the used time and the maintenance times of the unmanned aerial vehicle power supply, and the remaining life of the unmanned aerial vehicle power supply is subjected to deep analysis and evaluation from multiple dimensions, so that the accuracy of the prediction result of the remaining life of the unmanned aerial vehicle power supply is improved, and the error is reduced.
The database is used for storing proper output voltage, proper output current and early warning temperature of the target unmanned aerial vehicle power supply equipment.
The foregoing is merely illustrative and explanatory of the principles of this invention, as various modifications and additions may be made to the specific embodiments described, or similar arrangements may be substituted by those skilled in the art, without departing from the principles of this invention or beyond the scope of this invention as defined in the claims.
Claims (9)
1. An unmanned aerial vehicle integrated health management system, comprising:
the first abnormal coefficient analysis module of the power supply operation parameters: the method comprises the steps of acquiring operation parameters of power equipment at each sampling time point in the current flight process of a target unmanned aerial vehicle, wherein the operation parameters comprise output voltage, output current and temperature, acquiring an operation parameter characteristic curve corresponding to each historical fault of the power equipment of the target unmanned aerial vehicle, and analyzing a first abnormal coefficient of the operation parameters of the power equipment in the current flight process of the target unmanned aerial vehicle;
the second abnormal coefficient analysis module of the power supply operation parameters: the system comprises a power supply equipment, a target unmanned aerial vehicle, a power supply equipment monitoring system and a control system, wherein the power supply equipment monitoring system is used for acquiring a dangerous value of an operation parameter corresponding to each historical fault of the power supply equipment of the target unmanned aerial vehicle, and analyzing a second abnormal coefficient of the operation parameter of the power supply equipment in the current flight process of the target unmanned aerial vehicle by combining the operation parameter of the power supply equipment at each sampling time point in the current flight process of the target unmanned aerial vehicle;
the third abnormal coefficient analysis module of the power supply operation parameters: the system comprises a power supply device, a target unmanned aerial vehicle, a power supply device, a control device and a control device, wherein the power supply device is used for controlling the power supply device to operate according to the power supply device;
the comprehensive evaluation module for the health state of the power supply comprises: the system comprises a power supply device, a target unmanned aerial vehicle, a power supply device and a control device, wherein the power supply device is used for controlling the power supply device to operate according to the first abnormal coefficient, the second abnormal coefficient and the third abnormal coefficient of the power supply device in the current flight process of the target unmanned aerial vehicle;
the power supply residual life prediction analysis module: the method comprises the steps of acquiring a reference change rate of an operation parameter of power supply equipment of a target unmanned aerial vehicle and a normal value of the operation parameter of the power supply equipment of the target unmanned aerial vehicle in current flight, analyzing a first reference residual life of the power supply equipment of the target unmanned aerial vehicle, acquiring service life, used duration and maintenance times of the power supply equipment of the target unmanned aerial vehicle, further acquiring estimated residual life of the power supply equipment of the target unmanned aerial vehicle, and feeding back;
database: the method is used for storing the proper output voltage, proper output current and early warning temperature of the target unmanned aerial vehicle power supply equipment.
2. The unmanned aerial vehicle integrated health management system of claim 1, wherein: the specific analysis process of the first abnormal coefficient analysis module of the power supply operation parameters comprises the following steps:
setting each sampling time point in the current flight process of the target unmanned aerial vehicle according to a preset equal time interval principle, acquiring the output voltage, the output current and the temperature of power supply equipment at each sampling time point in the current flight process of the target unmanned aerial vehicle through a sensor, and respectively marking the output voltage, the output current and the temperature as，/>Indicate->Number of the sampling time points, +.>；
Drawing an output voltage characteristic curve of the power supply equipment in the current flight process of the target unmanned aerial vehicle according to the output voltage of the power supply equipment at each sampling time point in the current flight process of the target unmanned aerial vehicle;
similarly, obtaining a characteristic curve of the output current and the temperature of the power supply equipment in the current flight process of the target unmanned aerial vehicle;
and acquiring historical fault information of the power supply equipment of the target unmanned aerial vehicle, and further acquiring characteristic curves of output voltage, output current and temperature corresponding to each historical fault of the power supply equipment of the target unmanned aerial vehicle.
3. The unmanned aerial vehicle integrated health management system of claim 2, wherein: the specific analysis process of the first abnormal coefficient analysis module of the power supply operation parameter further comprises the following steps:
comparing the output voltage characteristic curve of the power supply equipment in the current flight process of the target unmanned aerial vehicle with the output voltage characteristic curve corresponding to each historical fault of the power supply equipment of the target unmanned aerial vehicle to obtain the similarity of the output voltage characteristic curve of the power supply equipment in the current flight process of the target unmanned aerial vehicle and the output voltage characteristic curve corresponding to each historical fault of the power supply equipment of the target unmanned aerial vehicle;
by analysis of formulasObtaining a first abnormal coefficient of the output voltage of the power supply equipment in the current flight process of the target unmanned aerial vehicle>Wherein->A correction factor representing a first abnormality factor of the preset output voltage,representing output voltage characteristic curve of power supply equipment and history of power supply equipment of target unmanned aerial vehicle in current flight process +.>Similarity of the output voltage characteristic curves corresponding to the secondary faults,/->，/>Representing a preset similarity threshold value of the output voltage characteristic curve;
similarly, acquiring a first abnormal coefficient of output current and a first abnormal coefficient of temperature of power supply equipment in the current flight process of the target unmanned aerial vehicle, and respectively marking the first abnormal coefficient and the first abnormal coefficient as。
4. A comprehensive health management system for an unmanned aerial vehicle according to claim 3, wherein: the specific analysis process of the second abnormal coefficient analysis module of the power supply operation parameters comprises the following steps:
according to the historical fault information of the target unmanned aerial vehicle power supply equipment, acquiring dangerous output voltage, dangerous output current and dangerous temperature corresponding to each historical fault of the target unmanned aerial vehicle power supply equipment, and respectively marking the dangerous output voltage, dangerous output current and dangerous temperature as、/>And->。
5. The unmanned aerial vehicle integrated health management system of claim 4, wherein: the specific analysis process of the second abnormal coefficient analysis module of the power supply operation parameter further comprises the following steps:
by analysis of formulasObtaining the output of power supply equipment at each sampling time point in the current flight process of the target unmanned aerial vehicleDangerous trend coefficient of voltage->，/>A threshold value representing a difference between a preset power supply device output voltage and a dangerous output voltage;
according to the dangerous trend coefficient of the output voltage of the power supply equipment at each sampling time point in the current flight process of the target unmanned aerial vehicle, a second abnormal coefficient of the output voltage of the power supply equipment in the current flight process of the target unmanned aerial vehicle is obtained and is recorded as；
Similarly, obtaining a second abnormal coefficient of the output current and a second abnormal coefficient of the temperature of the power supply equipment in the current flight process of the target unmanned aerial vehicle, and respectively marking the second abnormal coefficient and the second abnormal coefficient asAnd->。
6. The unmanned aerial vehicle integrated health management system of claim 5, wherein: the specific analysis process of the third abnormal coefficient analysis module of the power supply operation parameters is as follows:
extracting proper output voltage, proper output current and early warning temperature of target unmanned aerial vehicle power supply equipment stored in a database, and respectively marking the proper output voltage, proper output current and early warning temperature as；
By analysis of formulasObtaining
Output of power supply equipment in current flight process of target unmanned aerial vehicleThird abnormality coefficient of voltageWherein->Represents the number of sampling time points, +.>Representing natural constant->Indicating the influence factor corresponding to the deviation of the preset power supply equipment output voltage unit,indicating the +.>Output voltage of the power supply device at sampling time points, < >>Indicating the +.>Output voltages of the power supply device at the sampling time points;
similarly, a third abnormal coefficient of the output current of the power supply equipment in the current flight process of the target unmanned aerial vehicle is obtained and is recorded as；
Acquiring a third abnormal coefficient of the temperature of the power supply equipment in the current flight process of the target unmanned aerial vehicle, and recording the third abnormal coefficient as。
7. The unmanned aerial vehicle integrated health management system of claim 6, wherein: the specific analysis process of the comprehensive evaluation module for the health state of the power supply is as follows:
by analysis of formulasObtaining the output voltage coincidence coefficient of the power supply equipment of the target unmanned aerial vehicle>Wherein->Weights respectively representing a first abnormal coefficient, a second abnormal coefficient and a third abnormal coefficient of preset output voltage;
similarly, the coincidence coefficients of the output current and the temperature of the target unmanned aerial vehicle power supply equipment are obtained and respectively recorded as；
By analysis of formulasObtaining a health state evaluation coefficient of the power supply equipment of the target unmanned aerial vehicle>Wherein->Correction factor representing a predetermined state of health evaluation factor of a power supply device, < >>And respectively representing the weight values of the output voltage, the output current and the temperature of the preset power supply equipment, and feeding the weight values back to the remote monitoring terminal of the target unmanned aerial vehicle.
8. The unmanned aerial vehicle integrated health management system of claim 1, wherein: the specific analysis process of the power supply residual life prediction analysis module comprises the following steps:
acquiring historical operation information of the target unmanned aerial vehicle power supply equipment, obtaining corresponding values of the historical operation time output voltage, output current and temperature of the target unmanned aerial vehicle power supply equipment when the historical operation time output voltage, output current and temperature of the target unmanned aerial vehicle power supply equipment are stable, recording the values as normal values of the historical operation time output voltage, output current and temperature of the target unmanned aerial vehicle power supply equipment, and respectively representing the values as，/>Indicate history +.>Number of secondary run,/->Acquiring the time interval between each operation of the power supply equipment of the target unmanned aerial vehicle and the next operation, and recording the time interval as +.>；
By analysis of formulasObtaining the historical output voltage drop rate of each running of the power supply equipment of the target unmanned aerial vehicle>Wherein->Representing historical +.>A normal value of the output voltage at the time of the secondary operation;
similarly, the output current falling rate of each time of historical operation of the power supply equipment of the target unmanned aerial vehicle is obtained and is recorded as；
Acquiring the historical temperature rise rate of each running of the power supply equipment of the target unmanned aerial vehicle, and recording the historical temperature rise rate as；
According to the historical output voltage falling rate of each operation of the power supply equipment of the target unmanned aerial vehicle, obtaining the output voltage reference falling rate of the power supply equipment of the target unmanned aerial vehicle, and recording the output voltage reference falling rate as；
Similarly, the output current reference falling rate and the temperature reference rising rate of the target unmanned aerial vehicle power supply equipment are obtained and respectively recorded as；
Acquiring the output voltage, output current and normal values of temperature of power supply equipment in the current flight of the target unmanned aerial vehicle, and respectively marking the output voltage, the output current and the normal values as；
By analysis of formulasObtaining a first reference remaining lifetime of the target unmanned aerial vehicle power supply device>Wherein->Respectively representing output voltage and output voltage corresponding to normal operation of preset target unmanned aerial vehicle power supply equipmentLimit value of current and temperature, < >>，/>，/>。
9. The unmanned aerial vehicle integrated health management system of claim 8, wherein: the specific analysis process of the power supply residual life prediction analysis module further comprises the following steps:
obtaining the service life and the used time of the target unmanned aerial vehicle power supply equipment, obtaining the residual use time of the target unmanned aerial vehicle power supply equipment, marking the residual use time as the second reference residual life of the target unmanned aerial vehicle power supply equipment, and representing the second reference residual life as；
Acquiring the maintenance times of the power supply equipment of the target unmanned aerial vehicle and recording the maintenance times as；
By analysis of formulasObtaining estimated remaining life of power equipment of target unmanned aerial vehicle>，/>Weights respectively representing a preset first reference remaining life and second reference remaining life,，/>correction amounts respectively representing estimated remaining life of preset target unmanned aerial vehicle power supply equipment, +.>And representing an influence factor corresponding to the preset unit maintenance times, and feeding the influence factor back to the remote monitoring terminal of the target unmanned aerial vehicle.
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