JP7396100B2 - Control method of flying object, flying object, and computer program - Google Patents

Description

The present invention relates to a method of controlling an aircraft, an aircraft, and a computer program.

Conventionally, in mobile networks such as 4G (LTE) used in terminal devices such as mobile phones, wireless communication is performed between the terminal devices and a base station installed on a radio tower or the like.
In recent years, HAPS (High-altitude platform stations) have been developed that are equipped with a wireless relay station and fly or glide in airspace within the stratosphere at an altitude of 11 km to 50 km, for example (see, for example, Patent Document 1). ). Various HAPS have been developed, including solar planes, airships, and stratospheric jets. During its operation, HAPS stays in the stratosphere at an altitude of, for example, 20 km. HAPS allows simultaneous connection to a large number of terminal devices over a wide area, and by coordinating HAPS with artificial satellites and ground stations, it is possible to build a high-speed communication infrastructure. A stable communication environment can be maintained even in the event of a disaster.

The HAPS may include a solar panel having a solar cell and a power storage device having a power storage element such as a lithium ion secondary battery. HAPS may fly in the stratosphere during the day using electricity generated by solar panels, and at night using electricity discharged from a power storage device. The power storage elements included in HAPS are required to have high discharge capacity (full charge capacity) in order to keep large aircraft flying at night.

Japanese Patent Application Publication No. 2019-54490

As mentioned above, HAPS flies during the day using electricity generated by solar panels, but if sufficient output is not obtained from the solar panels due to low sunlight, etc., HAPS will not be able to take off or climb as desired. It may not be possible to reach the airspace.
An object of the present invention is to provide a method for controlling an aircraft, an aircraft, and a computer program that allow the aircraft to take off and/or ascend with high reliability.

A method for controlling a flying object according to one aspect of the present invention includes controlling a flying object that includes a power generation device having a solar cell and a power storage device at a discharge rate higher than a discharge rate when the flying object flies in a predetermined airspace. The power storage device is discharged to supplement the power generated by the power generation device for takeoff and/or ascent.

A flying object according to one aspect of the present invention includes a power generation device having a solar cell and a power storage device, and is controlled to fly in a predetermined airspace during operation, and has a discharge rate lower than that when flying in the airspace. The vehicle takes off and/or ascends by discharging the power storage device at a high discharge rate and supplementing the power generated by the power generation device.

A computer program according to one aspect of the present invention causes a flying object that includes a power generation device having a solar cell and a power storage device to operate the power storage device at a discharge rate higher than a discharge rate when the flying object flies in a predetermined airspace. The computer performs a process of discharging and assisting the electric power generated by the power generation device to take off and/or ascend.

According to the above aspect, the flying object takes off and/or ascends with high reliability regardless of the location on the earth from which it takes off.

FIG. 2 is a perspective view of the appearance of HAPS. FIG. 2 is a block diagram showing the configuration of HAPS. FIG. 2 is a perspective view of a power storage device. 3 is a flowchart illustrating a procedure for takeoff/climb control processing by the control unit. It is a graph showing the relationship between discharge rate and discharge capacity. 3 is a flowchart illustrating a procedure for takeoff/climb control processing by the control unit.

(Summary of embodiment)
A method for controlling a flying object according to an embodiment includes controlling a flying object that includes a power generation device having a solar cell and a power storage device, and discharging the power storage device at a discharge rate higher than a discharge rate when the flying object flies in a predetermined airspace. The electric power generated by the electric power generator is discharged to assist the electric power generated by the electric power generating apparatus for takeoff and/or ascent.

As the power generation device, for example, a solar panel formed by connecting a plurality of modules in which solar cells are arranged side by side may be used.
Examples of power storage devices include battery cells (power storage elements) such as lithium ion secondary batteries, battery modules in which a plurality of battery cells are connected in series and/or in parallel, batteries in which a plurality of battery modules are connected in series (bank), Alternatively, banks connected in parallel may be used.
The aircraft may be, for example, a HAPS or an electric vertical takeoff and landing aircraft (eVTOL), but is not limited thereto. The aircraft includes a power generation device and a power storage device, and preferably does not have an internal combustion engine.

According to the above configuration, even when sufficient output cannot be obtained from the power generation device due to low sunlight, the power storage device discharges electricity and supplements the power, so it is highly reliable regardless of the location on the earth from which it takes off. An aircraft takes off and/or climbs due to The discharge rate during takeoff and/or climb is higher than the discharge rate when the aircraft is flying in a given airspace during its operation (in the case of HAPS, while functioning as a communications infrastructure). - Shorter rise time. The energization time of the power storage device for takeoff and ascent is shortened, and the generation of a resistance component on the negative electrode within the power storage device can be suppressed, making it possible to maintain the discharge capacity (full charge capacity) of the power storage device. .

In the method for controlling a flying object described above, the power storage device may be warmed before the flying object takes off and/or while the flying object is ascending to the predetermined airspace.

As will be described later, when the discharge rate is high, the temperature dependence of the discharge capacity may become high (the discharge capacity may vary greatly depending on the temperature of the power storage device).
By warming the power storage device, the discharge capacity of the power storage device when the discharge rate is high can be ensured.

In the above method for controlling a flying object, the discharge rate of the power storage device while gliding on the ground before takeoff may be higher than the discharge rate when the flying object is flying in a predetermined airspace.
The term ``during flight'' refers to the period during which inertial force or frictional force acts between the ground and the wheels of the aircraft and accelerates the aircraft.

In the method for controlling a flying object described above, the flying object may include a wireless relay station that performs wireless communication with a terminal device.

The terminal device may be a mobile phone such as a smartphone, a mobile terminal device such as a notebook personal computer or a tablet, a communication terminal device included in a drone, or the like.
The wireless relay station performs wireless communication with a terminal device used by a user in an airplane existing in an airspace below the predetermined airspace, or with the communication terminal device, and also wirelessly communicates with a relay station on the ground or at sea. connected to the core network of the mobile communications network.

If the aircraft is a HAPS equipped with a wireless relay station, it is necessary to ascend to a predetermined airspace within the stratosphere, but since power is supplemented by a power storage device during takeoff and/or ascent, it is highly reliable up to said airspace. You can rise with HAPS will be able to take off and ascend even from areas with less sunlight than near the equator, such as areas at high latitudes.

In the above method for controlling an aircraft, the power storage device may include a lithium transition metal composite oxide as a positive electrode active material.

According to the above configuration, high discharge capacity can be exhibited.

The flying object according to the embodiment includes a power generation device having a solar cell and a power storage device, and is controlled to fly in a predetermined airspace during operation, and has a discharge rate higher than a discharge rate when flying in the airspace. Then, the power storage device is discharged to supplement the power generated by the power generation device, and the aircraft takes off and/or ascends.

According to the above configuration, even when sufficient output cannot be obtained from the power generation device, the power storage device discharges electricity and supplements the power, so the aircraft can take off with high reliability regardless of the location on the earth from which it takes off. and/or rise.

A computer program according to an embodiment is configured to cause a flying object that includes a power generation device having a solar cell and a power storage device to discharge the power storage device at a discharge rate higher than a discharge rate when the flying object flies in a predetermined airspace. The computer executes the process of taking off and/or ascending by supplementing the electric power generated by the power generation device.

(Embodiment 1)
Embodiment 1 will be described using HAPS as an example. Hereinafter, the discharge by the power storage device 7 for auxiliary power will be referred to as auxiliary discharge.
FIG. 1 is a perspective view of the external appearance of HAPS 1, and FIG. 2 is a block diagram showing the configuration of HAPS 1. In FIG. 2, connections between the control device 8 and each part are omitted.
The HAPS 1 includes a wing section 2, a plurality of propellers 3, a plurality of leg sections 4, a plurality of solar panels 5, a power storage device 7, a control device 8, a wireless relay station 9, and a first converter circuit 11. , a second converter circuit 12 , a switching section 13 , an inverter circuit 14 , wheels 15 , a temperature sensor 16 , and a temperature control device 17 . The propeller 3 includes a motor (electric motor) 10. The configuration of HAPS1 is not limited to this example. The power storage device 7, the control device 8, the wireless relay station 9, the first converter circuit 11, the second converter circuit 12, the switching section 13, the inverter circuit 14, the temperature sensor 16, and the temperature control device 17 are housed in the leg section 4. ing. Alternatively, these may be provided on the wing 2.

The solar panel 5 is formed by arranging and connecting a plurality of modules in which a plurality of silicon-based solar cells are arranged, for example.
The power storage device 7 is, for example, a battery cell 6 such as a lithium ion secondary battery, a battery module in which a plurality of battery cells 6 are connected in series and/or in parallel, a battery module in which a plurality of battery modules are connected in series (bank), or a bank. They are connected in parallel. In FIG. 2, a battery module forming part of a power storage device is shown as an example.
Temperature sensor 16 detects the temperature of power storage device 7 and outputs the detection result to control device 8 .
Temperature control device 17 may include a heater that warms power storage device 7 and a radiator that radiates heat from power storage device 7 .

The control device 8 includes a control section 81 , a storage section 82 , an input section 83 , a communication section 84 , and a motor drive section 85 .
The control unit 81 includes, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and controls the operation of each unit of the HAPS 1. The control unit 81 executes takeoff control processing by reading and executing a takeoff control program 821, which will be described later. Here, the takeoff control process refers to the process of causing the HAPS 1 to take off and ascend to a predetermined airspace.

The storage unit 82 stores various programs including a takeoff control program 821, a history DB 822, and a relation DB 823. The takeoff control program 821 is provided in a state stored in a computer-readable recording medium 80 such as a CD-ROM, DVD-ROM, or USB memory, and is stored in the storage unit 82 by being installed in the control device 8. . Alternatively, the takeoff control program 821 may be acquired from an external computer (not shown) connected to a communication network and stored in the storage unit 82.

The history DB 822 stores power generation and discharge history data of the solar panel 5, charging and discharging history data of the power storage device 7, temperature history data of the power storage device 7, weather information history data, flight control history data of the HAPS 1, etc. You may memorize it. The history of power generation and discharge of the solar panel 5 is the operation history of the solar panel 5, and may include the history of information indicating the period of use, information regarding power generation (electric power, etc.), or information regarding discharge (voltage, rate, etc.). good. The history of charging and discharging of the power storage device 7 is the operation history of the power storage device 7, and may include information indicating the usage period and a history of information regarding charging or discharging (voltage, rate, etc.).

The temperature history may be the temperature history of power storage device 7 detected by temperature sensor 16 .
The history of weather information may be a history of the wind speed and direction, the amount of sunlight, etc. at the location of the HAPS 1 at the time of acquisition, acquired from the weather server 20.
The history of flight control may be the history of flight control of the HAPS 1, including rotational drive such as the rotational speed and rotation time of the motor 10.

The relationship DB 823 includes a first relationship between the amount of sunlight and the generated power P _PV of the solar panel 5, a second relationship between weather information (wind speed and wind direction) and the power P _LOAD related to the rotational drive of the motor 10, and an auxiliary relationship of the power storage device 7. The third relationship between power P _A and discharge rate may be determined in advance through experiments and stored. The discharge rate in the third relationship may be set to be higher than the discharge rate when HAPS1 is gliding within the stratosphere.

Input unit 83 receives input of current and voltage detection results of solar panel 5 and power storage device 7, and temperature detection results of temperature sensor 16. In FIG. 2, the ammeter and voltmeter are omitted.
The communication unit 84 has a function of communicating with other devices such as the wireless relay station 9, and transmits and receives necessary information.
The motor drive unit 85 controls the rotational drive of each motor 10 of each propeller 3 .

The first converter circuit 11 is a DC/DC converter, is connected to the solar panel 5, boosts the output voltage of the solar panel 5, and outputs the boosted voltage.
The second converter circuit 12 is connected to the power storage device 7 and is a bidirectional DC/DC converter that discharges and charges the power storage device 7.
Inverter circuit 14 converts DC to AC. That is, it converts the DC power input from the switching unit 13 into AC power and outputs it.

The switching unit 13 includes, for example, two switches 131 and 132 connected in series. In FIG. 2, a control circuit that controls charging and discharging is omitted. The switch 131 and the switch 132 are composed of switching elements such as relays and power MOSFETs. A connection point between switch 131 and switch 132 is connected to inverter circuit 14 . The other end of switch 131 and the other end of switch 132 are connected to first converter circuit 11 and second converter circuit 12, respectively.

The inverter circuit 14 is connected to loads such as a wireless relay station 9 and a motor 10 .

When discharging from the solar panel 5 to a load, the switch 131 is turned on to connect the solar panel 5 to the load. FIG. 2 shows a state in which the switch 131 is on and power is being supplied from the solar panel 5 to the load.
When discharging from the power storage device 7 to a load, the switch 132 is turned on and the solar panel 5 is connected to the load.
When discharging from the solar panel 5 and the power storage device 7 to the load during auxiliary discharge, both the switch 131 and the switch 132 are turned on to connect the solar panel 5 and the power storage device 7 to the load.

The wireless relay station 9 includes a first communication section 91 , a second communication section 92 , and a third communication section 93 .
The first communication unit 91 includes an antenna, a duplexer, an amplifier, and the like, and transmits and receives radio signals to and from the terminal device 30 used by the user in the airplane, the communication terminal device 30 of the drone, and the like. The second communication unit 92 includes an antenna, a duplexer, an amplifier, and the like, and transmits and receives radio signals to and from relay stations on land or on the sea. The wireless relay station 9 is connected to the network NW of the mobile communication network via the relay station. A terminal device 30 is connected to the network NW. In Figure 2, relay stations on land or on the sea are omitted. The third communication unit 93 performs transmission and reception between the artificial satellite and other HAPS using laser light or the like. The configuration of the wireless relay station 9 is not limited to this example.
The motor 10 rotates the propeller 3. Alternatively, the motor 10 may drive an aircraft propulsion device or an aircraft lift device other than the configuration shown in FIG.

FIG. 3 is a perspective view showing an example of the power storage device (battery module) 7. As shown in FIG.
Power storage device 7 includes a rectangular parallelepiped-shaped case 71 and a plurality of battery cells 6 housed in case 71.

For example, the battery cell 6 includes a rectangular parallelepiped (prismatic) case body 61, a lid plate 62, a positive electrode terminal 63 and a negative electrode terminal 66 provided on the lid plate 62, a rupture valve 64, and an electrode body 65. Be prepared. Instead of a prismatic cell, the battery cell may be a so-called pouch cell having a laminate case. The electrode body 65 is formed by laminating a positive electrode plate, a separator, and a negative electrode plate, and is housed in the case body 61.
The electrode body 65 may be obtained by winding a positive electrode plate and a negative electrode plate into a flat shape with a separator interposed therebetween, or may be obtained by laminating a plurality of positive electrode plates and negative electrode plates with separators interposed therebetween. There may be.

The positive electrode plate is a plate-like (sheet-like) or long strip-like metal foil made of metals such as aluminum, titanium, tantalum, stainless steel, etc. or alloys thereof, and an active material layer is formed on the positive electrode base material foil. It is something. An active material layer is formed on a negative electrode base material foil, which is a plate-like (sheet-like) or long strip-like metal foil made of metals such as copper, nickel, stainless steel, nickel-plated steel, or alloys thereof. It is what was done. The separator is a microporous sheet made of synthetic resin.

The positive electrode active material can be appropriately selected from, for example, known positive electrode active materials. As a positive electrode active material for a lithium ion secondary battery, a material that can insert and release lithium ions is usually used. Examples of the positive electrode active material include a lithium transition metal composite oxide having an α-NaFeO ₂ type crystal structure, a lithium transition metal oxide having a spinel type crystal structure, a polyanion compound, a chalcogen compound, and sulfur. Examples of lithium transition metal composite oxides having α-NaFeO ₂ type crystal structure include Li[Li _x Ni _1-x ]O ₂ (0≦x<0.5), Li[Li _x Ni _γ Co _{(1- x-γ)} ]O ₂ (0≦x<0.5, 0<γ<1), Li[Li _x Co _(1-x) ]O ₂ (0≦x<0.5), Li[Li _x Ni _γ Mn _(1-x-γ) ]O ₂ (0≦x<0.5, 0<γ<1), Li[Li _x Ni _γ Mn _β Co _(1-x-γ-β) ]O ₂ (0≦x<0.5, 0<γ, 0<β, 0.5<γ+β≦1), Li[Li _x Ni _γ Co _β Al _(1-x-γ-β) ]O ₂ (0≦ Examples include x<0.5, 0<γ, 0<β, 0.5<γ+β<1). Examples of lithium transition metal oxides having a spinel crystal structure include Li _x Mn ₂ O ₄ and Li _x Ni _γ Mn _(2-γ) O ₄ . Examples of the polyanion compound include LiFePO ₄ , LiMnPO ₄ , LiNiPO ₄ , LiCoPO ₄ , Li ₃ V ₂ (PO ₄ ) ₃ , Li ₂ MnSiO ₄ , Li ₂ CoPO ₄ F, and the like. Examples of chalcogen compounds include titanium disulfide, molybdenum disulfide, molybdenum dioxide, and the like. Atoms or polyanions in these materials may be partially substituted with atoms or anion species of other elements. The surfaces of these materials may be coated with other materials. In the positive electrode active material layer, one type of these materials may be used alone, or two or more types may be used in combination. In the positive electrode active material layer, one type of these compounds may be used alone, or two or more types may be used in combination. The content of the positive electrode active material in the positive electrode active material layer is not particularly limited, but its lower limit is preferably 50% by mass, more preferably 80% by mass, and even more preferably 90% by mass. The upper limit of the content is preferably 99% by mass, more preferably 98% by mass.

The positive electrode mixture forming the active material layer of the positive electrode contains optional components such as a conductive agent, a binder, a thickener, and a filler, as necessary. Examples of the conductive agent include carbonaceous materials such as carbon black, metals, conductive ceramics, and the like. Examples of the binder include fluororesins (polytetrafluoroethylene (PTFE), polyvinylidene fluoride (PVDF), etc.), thermoplastic resins such as polyethylene, polypropylene, polyimide, and the like. Examples of the thickener include polysaccharide polymers such as carboxymethylcellulose (CMC) and methylcellulose. Examples of the filler include polyolefins such as polypropylene and polyethylene.

The negative electrode active material used in the negative electrode active material layer includes lithium metal. When the negative electrode active material contains lithium metal, the discharge capacity per mass of active material can be improved. Lithium metal includes lithium alone as well as lithium alloys. Examples of the lithium alloy include lithium aluminum alloy. A negative electrode containing lithium metal can be manufactured by cutting lithium metal into a predetermined shape or molding it into a predetermined shape.

Furthermore, the negative electrode active material layer may contain elements such as Na, K, Ca, Fe, Mg, Si, and N.
The lower limit of the lithium metal content in the negative electrode active material is preferably 80% by mass, more preferably 90% by mass, and even more preferably 95% by mass. The upper limit of the content may be 100% by mass.

A non-aqueous electrolyte is injected into the case body 61. The nonaqueous electrolyte includes a nonaqueous solvent, and a sulfur-based cyclic compound, a fluorinated cyclic carbonate, a chain carbonate, and an electrolyte salt dissolved in the nonaqueous solvent. Examples of the sulfur-based cyclic compound include compounds having a sultone structure or a cyclic sulfate structure. Examples of the fluorinated cyclic carbonate include fluoroethylene carbonate. Examples of the chain carbonate include ethyl methyl carbonate.
The negative electrode active material of the battery cell 6 may contain lithium metal, and the positive electrode active material may be of a lithium-excess type. According to such a battery cell 6, high discharge capacity can be exhibited.

The plurality of battery cells 6 are connected in series by electrically connecting positive terminals 63 and negative terminals 66 of adjacent battery cells 6 of power storage device 7 through bus bars 72 .
A positive electrode terminal 63 and a negative electrode terminal 66 of the battery cells 6 at both ends of the power storage device 7 are provided with a positive electrode lead 74 and a negative electrode lead 73 for extracting electric power.

Hereinafter, the control of takeoff and ascent of the HAPS 1 by the control unit 81 will be explained.
After the HAPS 1 leaves the ground diagonally upward, it floats due to lift while turning within a predetermined horizontal area, and rises to the airspace A. The airspace A includes, for example, an airspace within the stratosphere at an altitude of 11 km to 50 km. Above all, airspace at an altitude of 20 km is preferable. After ascending to airspace A, HAPS1 moves horizontally to position B and stays at position B. At night, it glides within airspace A while turning at a downward angle.

In this embodiment, the power storage device 7 is discharged at a discharge rate higher than the discharge rate when the HAPS 1 flies during operation in the airspace A, and the power generated by the solar panel 5 is assisted, and the HAPS 1 takes off. raise. The discharge rate when the HAPS1 glides within the airspace A may be 0.05CA to 0.2CA.

FIG. 4 is a flowchart showing the procedure of takeoff control processing by the control unit 81.
The control unit 81 acquires the amount of sunlight from the weather server 20 (S1). The HAPS 1 may be provided with a sensor that detects the amount of sunlight, and the control unit 81 may acquire the amount of sunlight from the sensor.
The control unit 81 estimates the generated power P _pv of the solar panel 5 (S2). The control unit 81 reads the first relationship from the relationship DB 823 and estimates P _pv based on the obtained amount of sunlight.

The control unit 81 acquires weather information on wind speed and wind direction from the weather server 20 (S3). The HAPS 1 may be provided with an anemometer and a wind vane, and the control unit 81 may acquire the wind speed and direction from the anemometer and the wind vane.
The control unit 81 estimates P _LOAD (S4). The control unit 81 reads the second relationship from the relationship DB 823 and estimates P _LOAD based on the acquired weather information.

The control unit 81 determines whether auxiliary discharge is necessary (S5). The control unit 81 calculates the auxiliary power P _A =P _LOAD -P _pv , and determines that auxiliary discharge is necessary if P _A >0. If the control unit 81 does not require auxiliary discharge (S5: NO), the control unit 81 starts discharging the solar panel 5 alone, drives the motor 10, and starts takeoff (S6). The threshold value of P _A is not limited to zero.
The control unit 81 determines whether the target position A1 within the airspace A has been reached (S7). If the target position A1 has not been reached (S7: NO), the control unit 81 repeats this determination.
If the target position A1 has been reached (S7: YES), the control unit 81 ends the takeoff control process.

If auxiliary discharge is necessary (S5: YES), the control unit 81 reads the third relationship from the relationship DB 823 and sets the discharge rate based on _PA (S8). Control unit 81 may consider the SOC of power storage device 7 when setting the discharge rate.

The control unit 81 turns on the switches 131 and 132 of the switching unit 13, starts auxiliary discharge based on the set discharge rate, drives the motor 10, and starts takeoff (S9).
The control unit 81 determines whether the target position A1 has been reached (S10). If the target position A1 has not been reached (S10: NO), the control unit 81 repeats this determination.
If the target position A1 has been reached (S10: YES), the control unit 81 ends the auxiliary discharge (S11) and ends the takeoff control process.

According to the embodiment, when the amount of sunlight is low and sufficient output cannot be obtained from the solar panel 5, the power storage device 7 is discharged to supplement the power, so the reliability is high regardless of the location on the earth from which the takeoff takes place. HAPS1 can take off and ascend to Airspace A. Since the discharge rate of the auxiliary discharge is higher than the discharge rate when HAPS1 flies during operation in airspace A, takeoff and climb times are shortened. The energization time of the power storage device 7 for takeoff and climb is shortened, and the amount of resistance generated on the negative electrode in the power storage device 7 can be suppressed, maintaining the discharge capacity (full charge capacity) of the power storage device 7. can do.

Whether or not to perform auxiliary discharge is not limited to the case where it is determined based on whether P _A >0. The auxiliary discharge may be performed when the amount of sunlight is smaller than the threshold value, or when the wind speed is smaller than the threshold value. The auxiliary discharge is not limited to being performed when the amount of sunlight is low.
The discharge rate of the auxiliary discharge may be changed as the altitude increases. Compared to the discharge rate when the HAPS 1 flies in the airspace A during operation, the discharge rate of the auxiliary discharge may be made higher temporarily or intermittently during takeoff and ascent. In the case of an aircraft that takes off after taxiing, the discharge rate of the auxiliary discharge at least during taxiing (while inertia or frictional force acts between the ground and the wheels 15 and accelerates the aircraft) is determined by the aircraft. The discharge rate may be set higher than the discharge rate when the vehicle flies in a predetermined airspace.
The control unit 81 may acquire the actual measured value of P _pv or P _LOAD , and modify the first relationship, second relationship, or third relationship by machine learning or the like.
Auxiliary discharge may be performed only during takeoff or during climb.

(Embodiment 2)
The HAPS 1 according to the second embodiment has the same configuration as the HAPS 1 according to the first embodiment, except that the power storage device 7 is heated before the HAPS 1 takes off or while it is raised to the target position A1.
The relationship DB 823 of the storage unit 82 of the HAPS 1 according to the second embodiment stores a fourth relationship between the discharge rate and the discharge capacity (mAh/g) for each of a plurality of temperatures.

FIG. 5 is a graph showing the relationship between discharge rate and discharge capacity. The horizontal axis of FIG. 5 is the discharge rate (C), and the vertical axis is the discharge capacity (mAh/g). FIG. 5 shows the relationship between discharge rate and discharge capacity at temperatures of 0°C, 5°C, 15°C, 25°C, and 45°C.
As shown in FIG. 5, it can be seen that as the discharge rate increases, the difference in discharge capacity based on the temperature difference increases. When the positive electrode active material is of a lithium-excess type as in the battery cell 6, it passes through a diffusion path different from that of other lithium ion secondary batteries, resulting in poor diffusivity. That is, the rate of redox reaction becomes slow, and the amount of decrease in discharge capacity is large when the temperature is low.

FIG. 6 is a flowchart showing the procedure of takeoff control processing by the control unit 81.
The control unit 81 acquires the amount of sunlight from the weather server 20 (S21).
The control unit 81 estimates the generated power P _pv of the solar panel 5 (S22). The control unit 81 reads the first relationship from the relationship DB 823 and estimates P _pv based on the obtained amount of sunlight.

The control unit 81 acquires weather information regarding wind speed and wind direction from the weather server 20 (S23).
The control unit 81 estimates P _LOAD (S24). The control unit 81 reads the second relationship from the relationship DB 823 and estimates P _LOAD based on the acquired weather information.

The control unit 81 determines whether auxiliary discharge is necessary (S25). The control unit 81 determines that auxiliary discharge is necessary when auxiliary power P _A =P _LOAD -P _pv >0. The threshold value of P _A is not limited to zero. If auxiliary discharge is not required (S25: NO), the control unit 81 starts discharging the solar panel 5 alone and starts takeoff (S26).
The control unit 81 determines whether the target position A1 has been reached (S27). If the target position A1 has not been reached (S27: NO), the control unit 81 repeats this determination.
When the control unit 81 reaches the destination position A1 (S27: YES), the control unit 81 ends the takeoff control process.

If auxiliary discharge is necessary (S25: YES), the control unit 81 reads the third relationship from the relationship DB 823 and sets the discharge rate based on _PA (S28). Control unit 81 may consider the SOC of power storage device 7 when setting the discharge rate.

The control unit 81 acquires the temperature (S29). Control unit 81 acquires the temperature of power storage device 7 before takeoff from temperature sensor 16 . The control unit 81 may obtain the temperature of the target position A1 from the weather server 20. The control unit 81 may acquire the temperature of the positions in stages up to the target position A1.
Control unit 81 determines whether or not it is necessary to warm up power storage device 7 based on the set discharge rate and the acquired temperature (S30). The control unit 81 reads the fourth relationship from the relationship DB 823, reads the target temperature for obtaining the desired discharge capacity (mAh/g) based on the discharge rate and the obtained temperature, and determines whether warming is necessary. Determine. The target temperature may be determined by interpolation calculation. Even when the control unit 81 determines that warming up is not necessary before takeoff based on the temperature of the power storage device 7 before takeoff, it may determine that warming up is necessary in consideration of the temperature at the destination position A1. If warming is not necessary (S30: NO), the control unit 81 advances the process to S32.

If warming is necessary (S30: YES), control unit 81 starts warming power storage device 7 using the heater of temperature control device 17 so as to reach the target temperature (S31).

The control unit 81 starts auxiliary discharge based on the set discharge rate and starts takeoff (S32). As described above, even if it is determined that warming is not necessary before takeoff, the power storage device 7 may be warmed while being raised to the target position A1. The control unit 81 may set a plurality of target temperatures depending on the altitude before reaching the target position A1.
The control unit 81 determines whether the target position A1 has been reached (S33). If the target position A1 has not been reached (S33: NO), the control unit 81 repeats this determination.

When the target position A1 is reached (S33: YES), the control unit 81 ends the auxiliary discharge (S34) and ends the process. If the power storage device 7 is being warmed up, the control unit 81 ends the auxiliary discharge after the heating ends.

As described above, the discharge capacity of the battery cell 6 is highly dependent on temperature. The discharge rate is high during takeoff, and the temperature at altitude is low, so the discharge capacity is low. By warming the power storage device 7, the discharge capacity can be increased to a desired capacity. HAPS1 can take off and/or climb with high reliability regardless of the temperature at the takeoff location.

The embodiments described above are not restrictive. The scope of the present invention is intended to include all changes within the meaning and scope equivalent to the claims.
The power generation device is not limited to one having a solar cell. The power generation device preferably emits less carbon dioxide during power generation than when driven by an internal combustion engine.
There is no limitation to the case where the control device 8 is provided in the HAPS 1. A computer or server wirelessly connected to HAPS 1 may control takeoff and ascent of HAPS 1.
HAPS1 is not limited to solar planes. HAPS1 may be an airship, a stratospheric jet, etc.
The aircraft is not limited to HAPS. The present invention can also be applied to other electric flying vehicles such as eVTOLs and hybrid flying vehicles equipped with a power generator and an internal combustion engine.
The power storage element is not limited to a lithium ion secondary battery. The power storage element may be another secondary battery.

Other embodiments may be configured as follows.
(1) A flying vehicle equipped with a power generating device and a power storage device whose carbon dioxide emissions during power generation are lower than those generated when an internal combustion engine is driven, is discharged at a rate higher than the discharge rate when the flying vehicle flies in a predetermined airspace. A method for controlling an aircraft, wherein the power storage device is discharged at a rate to supplement the power generated by the power generation device to take off and/or climb.
(2) Equipped with a power generation device whose carbon dioxide emissions during power generation are lower than those generated when an internal combustion engine is driven, and a power storage device, which is controlled to fly in a predetermined airspace during operation, and flies in the airspace. A flying object that takes off and/or ascends by discharging the power storage device at a higher discharge rate than the discharge rate when the power generation device is used to supplement the electric power generated by the power generation device.

(3) A flying object equipped with a power generating device and a power storage device discharges the power storage device at a discharge rate higher than a discharge rate when the flying object flies in a predetermined airspace, and assists the electric power generated by the power generating device. A method of controlling an aircraft for takeoff and/or ascent.
(4) A power generation device and a power storage device, which are controlled to fly in a predetermined airspace during operation, and discharge the power storage device at a higher discharge rate than the discharge rate when flying in the airspace to generate the power. An aircraft that takes off and/or ascends with the aid of electrical power generated by a device.

(5) A flying vehicle equipped with a power generation device and a power storage device whose carbon dioxide emissions during power generation are lower than those generated when an internal combustion engine is driven is configured to discharge the power storage device and supplement the power generated by the power generation device. A method of controlling an aircraft for takeoff and/or ascent.
(6) A power generation device whose carbon dioxide emissions during power generation are lower than those generated when an internal combustion engine is driven, and a power storage device, the power storage device being controlled to fly in a predetermined airspace during operation; A flying object that takes off and/or ascends by discharging and assisting the electric power generated by the power generation device.

1 HAPS
2 Wings 3 Propeller 4 Legs 5 Solar panel (power generation device)
6 battery cell 7 power storage device 8 control device 80 recording medium 81 control section 82 storage section 821 takeoff control program 822 history DB
823 Related DB
83 Input section 84 Communication section 85 Motor drive section 9 Wireless relay station 10 Motor 11 First converter circuit 12 Second converter circuit 13 Switching section 14 Inverter circuit 15 Wheel 16 Temperature sensor 17 Temperature control device 30 Terminal device

Claims (10)

A flying object equipped with a power generation device having a solar cell and a power storage device discharges the power storage device at a discharge rate higher than a discharge rate when the flying object flies in a predetermined airspace, and generates electric power by the power generation device. A method of controlling an aircraft for taking off and/or climbing with assistance, comprising:
Estimating the power generated by the power generation device,
Estimating the load power related to the rotational drive of a motor included in the aircraft,
Based on the difference between the estimated generated power and the load power, it is determined whether or not to discharge the power storage device at the high discharge rate to supplement the power generated by the power generation device.
How to control an aircraft. A flying object equipped with a power generation device having a solar cell and a power storage device discharges the power storage device at a discharge rate higher than a discharge rate when the flying object flies in a predetermined airspace, and generates electric power by the power generation device. A method of controlling an aircraft for taking off and/or climbing with assistance, comprising:
In the power storage device, the positive electrode active material is of a lithium-excess type,
Obtaining a discharge rate set when discharging the power storage device and assisting the power generated by the power generation device,
Obtaining the temperature of the power storage device,
A flight vehicle that determines whether or not it is necessary to warm up the power storage device based on the acquired discharge rate and temperature by referring to a relationship DB that stores relationships between discharge rates and discharge capacities for each of a plurality of temperatures. control method. 3. The method for controlling a flying object according to claim 1 , wherein the power storage device is heated before the flying object takes off and/or while the flying object is raised to the predetermined airspace. The flying object according to any one of claims 1 to 3, wherein a discharge rate of the power storage device while gliding on the ground before takeoff is higher than a discharge rate when the flying object flies in a predetermined airspace. control method. 5. The method of controlling a flying object according to claim 1 , wherein the flying object includes a wireless relay station that performs wireless communication with a terminal device. The method for controlling an aircraft according to any one of claims 1 to 5 , wherein the power storage device includes a lithium transition metal composite oxide as a positive electrode active material. A power generation device having a solar cell;
comprising a power storage device;
controlled to fly in predetermined airspace during operations;
A flying vehicle that takes off and/or ascends by discharging the electricity storage device at a discharge rate higher than the discharge rate when flying in the airspace and supplementing the electric power generated by the power generation device ,
Estimating the power generated by the power generation device,
Estimating the load power related to the rotational drive of a motor included in the aircraft,
Based on the difference between the estimated generated power and the load power, it is determined whether or not to discharge the power storage device at the high discharge rate to supplement the power generated by the power generation device.
flying object. A flying object equipped with a power generation device having a solar cell and a power storage device discharges the power storage device at a discharge rate higher than a discharge rate when the flying object flies in a predetermined airspace, and generates electric power by the power generation device. A computer program that causes a computer to assist in takeoff and/or ascent processing,
Estimating the power generated by the power generation device,
Estimating the load power related to the rotational drive of a motor included in the aircraft,
Based on the difference between the estimated generated power and the load power, it is determined whether or not to discharge the power storage device at the high discharge rate to supplement the power generated by the power generation device.
A computer program that causes a computer to perform a process. A power generation device having a solar cell;
comprising a power storage device;
controlled to fly in predetermined airspace during operations;
A flying vehicle that takes off and/or ascends by discharging the electricity storage device at a discharge rate higher than the discharge rate when flying in the airspace and supplementing the electric power generated by the power generation device,
In the power storage device, the positive electrode active material is of a lithium-excess type,
Obtaining a discharge rate set when discharging the power storage device and assisting the power generated by the power generation device,
Obtaining the temperature of the power storage device,
Based on the obtained discharge rate and temperature, it is determined whether or not it is necessary to warm up the power storage device by referring to a relationship DB that stores relationships between discharge rates and discharge capacities for each of a plurality of temperatures.
flying object. A flying object equipped with a power generation device having a solar cell and a power storage device discharges the power storage device at a discharge rate higher than a discharge rate when the flying object flies in a predetermined airspace, and generates electric power by the power generation device. A computer program that causes a computer to assist in takeoff and/or ascent processing,
In the power storage device, the positive electrode active material is of a lithium-excess type,
Obtaining a discharge rate set when discharging the power storage device and assisting the power generated by the power generation device,
Obtaining the temperature of the power storage device,
Based on the obtained discharge rate and temperature, it is determined whether or not it is necessary to warm up the power storage device by referring to a relationship DB that stores relationships between discharge rates and discharge capacities for each of a plurality of temperatures.
A computer program that causes a computer to perform a process.

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