WO2017212181A1 - System for supplying power to a captive remote-operated device - Google Patents

System for supplying power to a captive remote-operated device Download PDF

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Publication number
WO2017212181A1
WO2017212181A1 PCT/FR2017/051455 FR2017051455W WO2017212181A1 WO 2017212181 A1 WO2017212181 A1 WO 2017212181A1 FR 2017051455 W FR2017051455 W FR 2017051455W WO 2017212181 A1 WO2017212181 A1 WO 2017212181A1
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WO
WIPO (PCT)
Prior art keywords
voltage
phase
captive
cable
power
Prior art date
Application number
PCT/FR2017/051455
Other languages
French (fr)
Inventor
Claude Boulic
Jean-Michel Hubert
Original Assignee
Eca Robotics
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Eca Robotics filed Critical Eca Robotics
Publication of WO2017212181A1 publication Critical patent/WO2017212181A1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00Propulsion; Power supply
    • B64U50/30Supply or distribution of electrical power
    • B64U50/34In-flight charging
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64FGROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F3/00Ground installations specially adapted for captive aircraft
    • B64F3/02Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00Type of UAV
    • B64U10/10Rotorcrafts
    • B64U10/13Flying platforms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00Type of UAV
    • B64U10/60Tethered aircraft
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00Transport or storage specially adapted for UAVs
    • B64U80/80Transport or storage specially adapted for UAVs by vehicles
    • B64U80/86Land vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00UAVs characterised by their flight controls
    • B64U2201/20Remote controls
    • B64U2201/202Remote controls using tethers for connecting to ground station

Definitions

  • the invention relates to a power supply system of a teleoperated captive device, for example rotary wing and in particular air such as a drone.
  • the teleoperated rotary wing aircraft and in particular the drones generally comprise a main body provided with a rotating electrical machine used in engine mode, sets of blades arranged on either side of the main body and each connected to a rotor of the electric machine, which sets of blades form the rotary wing, and feet extending from the main body.
  • These devices also include embedded electronics. These are systemic elements configured to perform certain operations in flight and to control the aircraft. In particular, it may be photo sensors, video cameras, control and control units provided in particular with microprocessors or microcontrollers and memories, geolocation devices, actuators for controlling the apparatus; but also systemic elements for controlling and controlling the rotating electrical machine, for example voltage sensors, current sensors, voltage converters, etc.
  • the rotating electrical machine and all embedded electronics require to operate to be electrically powered during the flight.
  • Teleoperated devices may include one or more electrical energy storage units such as batteries. These so-called active devices may have a relatively large range but have a limited autonomy and the batteries need to be recharged.
  • the invention aims to provide a power supply system of a teleoperated captive device, which is particularly powerful.
  • the invention thus relates to a power supply system for a teleoperated captive device, comprising a power source configured to provide electrical energy, and an electrical cable electrically connected to said power source and configured to conveying said electrical energy to said captive teleoperated apparatus for powering at least one rotating electrical machine and / or systemic elements embedded in said teleoperated captive apparatus; characterized in that said power supply source is configured to provide a three-phase AC high voltage, said power cable is configured to route said three-phase AC high voltage, and said system further comprises an onboard energy management and conversion device in said teleoperated apparatus captive and configured to rectify said three-phase AC high voltage received in a high DC voltage and to lower said DC high voltage to DC low voltage.
  • the provision and routing to the remote teleoperated apparatus of a three-phase AC high voltage makes it possible to satisfy the needs, in particular instantaneous power, of this apparatus.
  • the device may for example require a power of the order of 2 kW to 5 kW.
  • the provision by the power source of a three-phase AC high voltage makes it possible, for a given power, to reduce the intensity supplied.
  • the electric cable thus makes use of electrical energy having a three-phase alternating high voltage and a low intensity, which makes it possible to use a cable of small diameter and therefore having a reduced linear density and reduced Joule losses. It will be noted that for a given weight, the reduction of the linear density of the electric cable advantageously makes it possible to increase the length thereof.
  • the power supply system according to the invention therefore makes it possible to increase the radius of action of the teleoperated captive device.
  • the conversion by the device for managing and converting energy embedded in the teleoperated captive device, from the three-phase high-voltage supplied by the electric cable to a low DC voltage, is particularly convenient since it makes it possible to use a rotating electrical machine and systemic elements embedded in said captive teleoperated apparatus which are fed conventionally by a low DC voltage.
  • the supply and routing to the teleoperated device captive high-voltage AC three-phase does not impact the compactness and weight of this device.
  • the power source may be configured to provide electrical power having a three-phase high-ac voltage having a value between about 350 V and about 700 V and an intensity value of less than 10 A; said power management and conversion device may be configured to rectify the received AC electrical energy into a DC electrical power having a DC high voltage having a value between about +/- 300 V and about +/- 600 V and an intensity value also less than 10 A, and then to regulate the rectified continuous electrical energy into an electrical energy having a low DC voltage having a value between about 30 V and about 70 V and an intensity value between about 30 A and about 60 A or at most 80 A.
  • the positive and negative values of the rectified DC high voltage correspond to the two branches, also called rails, of a three-phase rectifier.
  • said electrical cable comprises three insulated main conductors each formed of a plurality of strands, a neutral conductor and a braid enveloping the main and neutral conductors; each of the main conductors and neutral having for example a similar diameter and being all provided with tinned copper strands of section equal to about 0.38 mm 2 , and said braid being formed for example of viscose coated with acrylic and having a diameter of the order of 3.6 mm;
  • system is further configured to transmit, from said captive teleoperated apparatus, information representative of instantaneous power to be supplied to said apparatus and to communicate said representative power information to said on-line power source by means of at least one of said main conductors; said electric cable;
  • said electric cable further comprises an optical fiber configured to pass via said electric cable data from and to said captive teleoperated apparatus; said optical fiber being for example multimode type and having a diameter of about 0.9 mm;
  • said electric cable further comprises a central core configured to provide a mechanical holding function of said captive teleoperated apparatus; said central core being for example formed of aramid fiber and having a breaking load of the order of 100 daN so as to also play a pulling role of the apparatus;
  • said electric cable has a length greater than 50 m and less than approximately 200 m and said system comprises a drum configured to unroll and wind up said electric cable;
  • said power conversion and management device comprises a continuous AC three-phase rectifier configured to convert said high-voltage AC three-phase high voltage, a first group of several DC continuous converters connected to a positive output branch of said AC three-phase rectifier. continuous and configured to regulate said continuous high voltage DC low voltage, as well as a second group of a plurality of continuous DC converters, connected to a negative output branch of said DC rectifier AC three-phase rectifier and configured to also regulate said DC high voltage continuous low voltage;
  • said energy management and conversion device further comprises a control and control unit configured to control said continuous AC three-phase rectifier and said first and second groups of several DC continuous converters according to the instantaneous power required for said apparatus;
  • said energy management and conversion device further comprises a plurality of sensors configured to measure the output current of said continuous AC three-phase rectifier and / or the output of said first and second groups of several DC continuous converters, said sensors being controlled by said control and command unit;
  • said energy management and conversion device further comprises an isolation controller of said neutral conductor
  • said system further comprises a buffer energy storage unit electrically connected to said energy conversion and management device and configured to supply, in parallel, said at least one rotating electrical machine and / or said systemic elements embedded in said teleoperated captive device; and or
  • said power source is formed by a diesel generator with a nominal power of about 6.5 kVA and having a neutral conductor isolated from the ground.
  • FIG. 1 is a schematic perspective view of a land vehicle on which is parked a teleoperated rotary wing aircraft;
  • FIG. 2 is a schematic view showing the aircraft in flight phase, mechanically connected to the vehicle through a cable and electrically powered by the latter;
  • - Figure 3 is a sectional view of the cable shown schematically in Figure 2;
  • FIG. 4 is a block diagram of a power supply system and electrical management at the vehicle and to the device;
  • Figure 5 is a diagram similar to that of Figure 4, showing the power supply system and electrical management at the device.
  • FIG. 6 is a block diagram detailing a device for managing and converting voltage of the power supply and electrical management system integrated in the apparatus.
  • FIG. 1 shows a land vehicle 1, here of the pickup type, that is to say having a body 2 at the rear of the vehicle 1, on which is mounted a chassis 3 formed by longitudinal members 4, crosspieces 5 connected each to longitudinal members 4 and posts 6 each connected to longitudinal members 4 or crosspieces 5 so as to form a metal structure known as frames, defining an internal space 7.
  • FIG. 1 further shows a holding system 8 introduced into the internal space 7 of the chassis 3, designed to maintain in parked position a teleoperated rotary wing apparatus 13.
  • the holding system 8 comprises a mobile receiving platform 9 intended to receive the apparatus 10, a side wall 10 here cylindrical, delimiting at the periphery a reception space 12 for the apparatus 10, as well as a locking device 1 1 mounted on the side wall 13 and which is configured to block the rotary wing 13 of the apparatus 10 when the latter is in the stationary position on the platform 9 and in the reception area 12.
  • FIG. 1 furthermore shows a plurality of electrical and / or mechanical boxes 14 mounted on the frame 3 and which each comprise electronic and / or electrotechnical and / or mechanical system elements to enable the apparatus 10 to carry out phases of flight during which he must perform missions (or tasks).
  • the apparatus 10 is here a drone, that is to say an aerial teleoperated apparatus with a rotary wing.
  • This apparatus 10 comprises a main body 15 provided with a rotating electrical machine 16 (visible in FIG. 5) used in motor mode and on-board electronics formed by systemic elements, for example control and control units provided in particular with microprocessors or microcontrollers and memories, geolocation devices, actuators for controlling the apparatus, but also systemic elements for controlling and controlling the rotating electrical machine, for example voltage sensors, current sensors, power converters, voltage, etc. (see below in more detail).
  • systemic elements for example control and control units provided in particular with microprocessors or microcontrollers and memories, geolocation devices, actuators for controlling the apparatus, but also systemic elements for controlling and controlling the rotating electrical machine, for example voltage sensors, current sensors, power converters, voltage, etc. (see below in more detail).
  • the apparatus 10 further comprises two sets of several blades 13 (here three) disposed on either side of the main body 15, a so-called upper set and a lower set, each blade 13 of a set of blades being connected. mechanically to a rotor of the rotating electrical machine 16.
  • the two sets of blades 13 here form the rotary wing of the apparatus 10.
  • rotating electrical machine 16 is for example a brushless motor said in English terminology "brushless”.
  • the apparatus 10 also comprises several feet 17 (here three) extending from the main body 15, under the lower set of blades 1, opposite the feet 17, a cover 18 situated above the main body 15 and the blade set 13 said upper, which cover 18 is also provided with embedded electronics and in particular communication systems, including for example an antenna (not shown) protruding from the cover; and other systemic elements, for example video and / or photo sensors 19 housed under the main body 15 and the lower set of blades 13, between the legs 17.
  • feet 17 here three
  • cover 18 situated above the main body 15 and the blade set 13 said upper, which cover 18 is also provided with embedded electronics and in particular communication systems, including for example an antenna (not shown) protruding from the cover; and other systemic elements, for example video and / or photo sensors 19 housed under the main body 15 and the lower set of blades 13, between the legs 17.
  • the rotating electrical machine 13 and all the embedded electronics require, in order to function, to be electrically powered during the flight phases.
  • the apparatus 10 is here electrically and mechanically connected by an electric cable 20 to a power supply 21 (visible in FIG. 4) mounted on the chassis 3.
  • the power source 21 is configured to provide electrical power and the cable 20 is electrically connected to the power source 21 and is configured to route electrical power to the apparatus 10 to power at least the rotating electrical machine 16, or even all the systemic elements embedded in the apparatus 10.
  • the power source 21 is configured to provide a three-phase AC high voltage and the electrical cable 20 is configured to route this high-voltage three-phase AC to the apparatus 10.
  • Such an apparatus 10 is said to be captive since its radius of action is limited by the length of the cable 20.
  • the cable 20 has a length greater than 50 m and less than about 200 m, and preferably about 150 m.
  • FIG. 3 shows, in section, the detail of the cable 20, which comprises three main conductors 22 each insulated by a sheath 23 and each formed here of a plurality of strands 24.
  • Each main conductor 22 is dedicated to one of the three phases to the three-phase voltage (or current) system generated by the power supply 21.
  • the strands 24 are for example tinned copper and has a substantially hexagonal shape whose section (the area) is here equal to 0.38 mm 2 .
  • the sheath 23 is for example made of thermoplastic elastomer, in particular polyester.
  • the cable 20 further comprises a neutral conductor 25 insulated by a sheath 26, for example similar to the sheath 23, and each formed of a plurality of strands 27, for example also similar to the strands 24.
  • the cable 20 here comprises an optical fiber 28 configured to pass data via cable 20 to and from the apparatus 10.
  • the optical fiber 28 is for example of the multimode type, especially Gl 62.5 / 125, and has a diameter of about 0.9 mm.
  • the cable 20 further comprises here a central core 29 configured to provide a mechanical function for retaining the device 10.
  • the central core 29 is for example formed of aramid fiber and may have a breaking load of the order of 100 daN so as to also play a pulling role of the apparatus 10.
  • the cable 20 also comprises a braid 30 enveloping the main conductors 22, the neutral conductor 25, the optical fiber 28 and the central core 29.
  • the braid 30 is for example formed of viscose coated with acrylic and has a diameter of about 3.6 mm.
  • the cable 20 illustrated in Figure 3 here has a linear density of between about 20 g / m and about 30 g / m.
  • the assembly formed at least of the cable 20 of the power supply source 16 forms a power supply system 21 of the apparatus 10.
  • the apparatus 10 may for example require a power of the order of 2 kW to 5 kW.
  • the supply by the power source 21 of a three-phase AC high voltage makes it possible, for a given power, to reduce the intensity supplied and thus transited in the cable 20.
  • the cable 20 thus travels electrical energy having a three-phase AC high voltage and a low intensity, which makes it possible to use a cable of small diameter and therefore having a reduced linear density and reduced Joule losses.
  • the reduction of the linear density of the cable 20 advantageously makes it possible to increase the length thereof.
  • the power supply system therefore allows the device here to have a particularly large radius of action for a teleoperated captive device.
  • FIG. 4 is a block diagram of elements of the power supply system, associated in particular with elements of an electrical management system and a data management system, at the level of the vehicle 1 and in particular on the the chassis 3, towards the apparatus 10.
  • These power supply and electrical management systems comprise the cable 20 connected at one end to the main body 15 of the apparatus 10 and, at one opposite end, to a drum configured to unroll and wind up the electric cable 20.
  • These power supply and electrical management systems also comprise the power supply source 21 formed here by a generator, for example a diesel generator, having a nominal power of about 6.5 kVA and having a so-called neutral IT regime, with in particular a neutral conductor isolated from the ground.
  • a generator for example a diesel generator, having a nominal power of about 6.5 kVA and having a so-called neutral IT regime, with in particular a neutral conductor isolated from the ground.
  • the power source 21 may be configured to provide electrical power having a three-phase high-ac voltage having a value between about 350 V and about 700 V and an intensity value of less than 10 A.
  • This power source 21 is connected, via a power cable 100, to a conditioning device 32 which is configured to transfer, via a power cable 101, the electrical energy having a high-voltage three-phase AC first to a control device 33 of the drum 31, then to the cable 20 wound on the drum 31, via a power cable 102 connecting the drum 31 to its control device 33.
  • the conditioning device 32 is furthermore connected to the control device 33 of the drum 31, via a control cable 200 for electrically feeding the control device 33 and / or for providing / receiving control instructions, and also via a another power cable 103 for controlling the winding and unwinding of the drum 31 according to predetermined parameters.
  • the term "power cables” refers to cables capable of passing electrical energy having a high-voltage three-phase AC having a value of between about 350 V and about 700 V and an intensity value of less than 10 A. of cables having four conductors, one conductor per phase and one neutral conductor.
  • These cables can further transmit power line data in line so that they can be communicating unidirectionally or bidirectionally.
  • control cables refers to cables (single-conductor or multi-conductor) capable of passing electrical energy having a low direct voltage, for example of the order of 12 V to less than 100 V, and which may furthermore passing power line data in line so that they can be communicating unidirectionally or bidirectionally.
  • the power supply and electrical management systems furthermore comprise a control device 34 for the holding system 8, including the platform 9 and the locking device 11.
  • This control device 34 of the holding system 8 is connected, via a control cable 201 and also via a semi-power cable 300, firstly to electrically power the control device 34 and / or to provide / receive control instructions, and secondly to control the displacement of the platform 9 and / or the locking / unlocking of the rotary wing of the apparatus 10 by the blocking device 1 1.
  • semi-power cables is used here to mean cables capable of transmitting electrical energy having a medium DC voltage, for example of the order of 230 V, which can furthermore transmit power line data in line so that that they can be communicating, unidirectionally or bi-directionally.
  • the holding system 8 is thus connected via a plurality of control cables 202 to the control device 34 of this holding system 8.
  • the power supply and electrical management systems also comprise a control device 35 called cabin, connected via a control cable 203 to the control device 34 of the holding system 8, and which makes it possible, in particular, to supply / receive commands / instructions from controls both to / from the holding system and to / from the device.
  • this control device 35 cabin is configured to communicate with a computer 37 (see below).
  • the power supply and electrical management systems also comprise a so-called backup energy storage unit 36, here a 24 V and 20 Ah type battery, connected to the control device 34 of the holding system 8 via a control cable. 204.
  • the data management system illustrated in FIG. 4 is provided, at the level of the chassis 3, with a computer 37 intended for control and control of the mission carried out by the apparatus 10 and a data link terminal. 38 connected to the computer 37 by a computer cable 400, here Ethernet type.
  • This computer 37 is configured to communicate, for example by a wireless link or alternatively by a wire link (not shown), with the control device 35 said cabin.
  • This data link terminal 38 is also connected to the conditioner device 32 via a control cable 205 and to the cable 20 by an optical fiber 401.
  • the conditioner device 32 is not illustrated in detail but may comprise for example a microcontroller, a disconnector, contactors, a differential protection, a circuit breaker, a thermal relay, control relays, transformers, current measurement, an in-line carrier data receiver, filters (especially for in-line carrier data and for the so-called third rank harmonic generated in the three-phase AC electrical system) and / or resistors. It will also be noted that the conditioning device 32 can be connected to the earth.
  • FIG. 5 shows a block diagram of elements of the power supply, electrical management and data management systems, at the level of the device 10, and therefore on board.
  • the energy management and conversion device 39 is configured to rectify the three-phase high-voltage supply delivered by the source 21 and conveyed by the cable 20, in a high DC voltage and also to lower the high DC voltage rectified in low DC voltage. .
  • the conversion by the energy management and conversion device 39 embedded in the apparatus 10, from the high-voltage three-phase AC conveyed by the electric cable 20 to a low DC voltage, is particularly convenient since it makes it possible to use a machine rotating electrical 16 and systemic elements embedded in the apparatus 10 which are powered by a low DC voltage.
  • the electrical energy may have a voltage value of, for example, approximately 500 V and an intensity value of not more than 4 A, and at the output of the management device and energy conversion 39, the electrical energy may have a voltage value of between about 36 V and about 50 V and an intensity value of not more than 80 A.
  • the energy management and conversion device 39 is connected, via a control cable 206 and also via a computer bus 402, to a flight calculator device 40.
  • Such a flight calculator device 40 may comprise, for example, a flight computer package, an optical fiber modem connected to the optical fiber 28 of the cable 20, an inertial unit for the navigation of the device 10, and in particular to be connected via cables / computer and communication buses to a flight control unit controlling the actuators for driving the aircraft, to a geolocation system for example located in the hood 18 of the apparatus 10, and the video and / or photo sensors 19 housed under the main body 15 between the legs 17 of the apparatus 10.
  • the energy management and conversion device 39 is furthermore connected via a control cable 207 connected by stitching (at a tap point) to the control cable 206 to a motor controller 41.
  • This motor controller 41 is configured to electrically power the rotating electrical machine 16 (and thus the rotation of the blades 13), via several control cables 208.
  • the motor controller is also connected via two communication cables 403 and 404, here respectively of the PPM type and of the TTL type, to the flight calculator device 40.
  • a power storage unit 42 here a so-called buffer battery capable of delivering, for example, up to 80 A in discharge and receiving, for example, 10 A in charge.
  • This buffer battery 42 is connected to the flight calculator device 40 via a computer bus 405, and is also connected to a current measuring device 43 via a control cable 209.
  • This current measurement device 43 is also connected on the one hand to the power management and conversion device 39 via an analog cable 406 and on the other hand to the motor controller 41 via a control cable 210 which is connected. by a tap (at a tap) on the control cable 207 connecting the motor controller 41 to the power management and conversion device 39.
  • the buffer battery 42 is thus connected in parallel with the power management and conversion device 39.
  • the energy management and conversion device 39 and the buffer battery 42 can both be used to power the rotating electrical machine 16 and the flight calculator device 40, respectively via the transmission cables.
  • FIG. 6 illustrates in greater detail the energy management and conversion device 39, which comprises a continuous AC three-phase rectifier 44 configured to convert the high-voltage AC three-phase to a high-DC voltage, a first group of several continuous DC converters. 45 (here three in number), connected to a positive output branch of the continuous AC three-phase rectifier 44 and configured to regulate the continuous high voltage DC, as well as a second group of several DC continuous converters 46, connected to (here also three in number) a negative output branch of the AC DC rectifier 44 and configured to also regulate the continuous high voltage DC low voltage.
  • a continuous AC three-phase rectifier 44 configured to convert the high-voltage AC three-phase to a high-DC voltage
  • a first group of several continuous DC converters. 45 here three in number
  • a positive output branch of the continuous AC three-phase rectifier 44 and configured to regulate the continuous high voltage DC
  • a second group of several DC continuous converters 46 connected to (here also three in number) a negative output branch of the AC DC rectifier 44
  • the power management and conversion device 39 further comprises a control and control unit 47 configured to control the continuous AC three-phase rectifier 44 and / or and the first and second groups of a plurality of DC DCs 45 and 46 in accordance with one another. the instantaneous power required for the device 10.
  • Such a control and control unit 47 may comprise, for example, a microcontroller, a module for managing the balancing of currents on the positive and negative branches of the three-phase rectifier 44, a module for managing the buffer battery 42, a module managing an on / off control of the apparatus 10 and / or one or more auxiliary power supplies.
  • This control and control unit 47 can receive via the analog cable 406 information representative of the charging / discharging current of the buffer battery 42 measured by the current measuring device 43; can send an on / off instruction, denoted M / A in Figure 6, of the apparatus 10; and is connected to the flight calculator device 40 via the computer bus 402.
  • the continuous AC three-phase rectifier 44 may be configured to rectify the received AC electrical energy into a continuous electrical energy having a DC high voltage having a value between about +/- 300 V and about +/- 600 V, and an intensity value also less than 10 A, and more particularly here +/- 410 V and at most 5 A.
  • the positive and negative values of the rectified DC high voltage correspond to the two branches, positive and negative, also called rails, of the three-phase rectifier 44.
  • first and second groups of a plurality of continuous DC converters 45 and 46 may be configured to regulate the rectified DC electrical energy into electrical energy having a low DC voltage having a value between about 30 V and about 70 V and an intensity value of between 30 A and 60 A, and more particularly here 50 V and at most 80 A.
  • the power management and conversion device 39 comprises an input device 48 having a primary filter connected to the main conductors 22 and to the neutral conductor 25 of the cable 20.
  • This input device 48 is connected via a power cable 210 to the continuous AC three-phase rectifier 44.
  • the energy management and conversion device 39 furthermore comprises an on-line carrier power transmitter 49 connected via a communication cable 407, here of the RS-232 type, to the control and control unit 47, and by an extension 408 of the communication cable 407, to the input device 48 which is also provided with an in-line carrier data injector.
  • an on-line carrier power transmitter 49 connected via a communication cable 407, here of the RS-232 type, to the control and control unit 47, and by an extension 408 of the communication cable 407, to the input device 48 which is also provided with an in-line carrier data injector.
  • this in-line carrier transmitter 49 is configured to inject into one of the main conductors 22 of the cable 20 representative information of instantaneous power to be supplied to the apparatus, which information passes via the power cables 102 and 101 at least to the conditioner device 32.
  • the energy management and conversion device 39 further comprises an isolation controller 50 of the neutral conductor 25 of the cable 20, which isolation controller 50 is connected to the input device 48 via a power cable 21 1 and, to the control and control unit 47 via an analog cable 409.
  • the energy management and conversion device 39 also comprises rectified current measurement devices 53 and 54, respectively connected to the output of the positive and negative branches of the continuous AC three-phase rectifier 44, via respective power cables 214 and 215 which are extended respectively to the first and second groups of several continuous DC converters 45 and 46, which are connected thereto.
  • the energy management and conversion device 39 also comprises rectified voltage measuring devices 51 and 52, connected to the positive and negative branches of the continuous AC three-phase rectifier 44 via taps 212 and 213 made on the power cables. 214 and 215 respectively.
  • each of the voltage and rectified current measurement devices 51 to 54 is connected, via analog cables 410, to the control and control unit 47.
  • the first group of several continuous DC converters 45 is connected, at the output, to the control cable 206 for powering the rotating electrical machine 16 and the flight calculator device 40.
  • the second group of several continuous DC converters 46 is also connected, at the output, to the control cable 206 by a control cable 217 stitched (at a tap point) on this control cable 206.
  • the energy management and conversion device 39 also comprises regulated (or lowered) voltage measuring devices 55 and 56, which are connected at the output of the first and second groups of several continuous DC converters 45 and 46, respectively via the control cable 206 and via a control cable 218 stitched (at a tap) on the control cable 217.
  • control and control unit 47 is here connected, via analog cables 41 1, at the input of the first and second groups of several continuous DC converters 45 and 46, in particular for managing the charging / discharging of the buffer battery 42; that this control and control unit 47 is also connected, via a control cable 216, at the output of the first and second groups of several continuous DC converters 45 and 46, in particular to manage the on / off control of the apparatus 10; and that this control and control unit 47 is also connected, via an analog cable 219, at the output of the regulated voltage measuring devices 55 and 56.
  • the vehicle is not a pickup and the frame of the holding system is mounted on the roof of the vehicle;
  • the frame of the holding system is directly formed by the vehicle body for example pickup;
  • the teleoperated device is not airborne but rather marine or submarine and the vehicle is not a land vehicle but is adapted to the type of teleoperated device;
  • the device has several rotating electrical machines
  • the device has more or less embedded electronics that the particular systemic elements mentioned above;
  • the first and second groups of converters are each provided with more than three or less than three converters;
  • the device has more than two sets of blades
  • the lateral wall is not cylindrical but rather semi-cylindrical or has another shape
  • the platform is fixed and the side wall is movable relative to the platform, and in particular the side wall is for example movable by tilting or moved by a lever arm; and or
  • the platform and the lateral wall are both movable relative to one another.

Abstract

The invention relates to a system for supplying power to a captive remote-operated device (10), including an electrical power source (21) that is configured to deliver electrical power, and an electric cable (20) that is electrically connected to said electrical power source and configured to convey said electrical power to said captive remote-operated device in order to supply power to at least one rotary electric machine and/or system elements incorporated within said captive remote-operated device; characterized in that said electrical power source is configured to deliver a three-phase AC high voltage, said electric cable is configured to convey said three-phase AC high voltage and said system additionally includes a power management and conversion unit that is incorporated within said captive remote-operated device and configured to rectify said three-phase AC high voltage received to a DC high voltage and to decrease said DC high voltage to a DC low voltage.

Description

Système d'alimentation électrique d'un appareil téléopéré captif  Power supply system for a teleoperated captive device
DOMAINE DE L'INVENTION FIELD OF THE INVENTION
L'invention concerne un système d'alimentation électrique d'un appareil téléopéré captif, par exemple à voilure tournante et notamment aérien tel qu'un drone.  The invention relates to a power supply system of a teleoperated captive device, for example rotary wing and in particular air such as a drone.
ARRIERE PLAN TECHNOLOGIQUE  BACKGROUND TECHNOLOGY
Les appareils téléopérés à voilure tournante et en particulier les drones, comportent généralement un corps principal pourvu d'une machine électrique tournante utilisée en mode moteur, des jeux de pales disposés de part et d'autre du corps principal et reliés chacun à un rotor de la machine électrique, lesquels jeux de pales forment la voilure tournante, et des pieds s'étendant depuis le corps principal.  The teleoperated rotary wing aircraft and in particular the drones, generally comprise a main body provided with a rotating electrical machine used in engine mode, sets of blades arranged on either side of the main body and each connected to a rotor of the electric machine, which sets of blades form the rotary wing, and feet extending from the main body.
Ces appareils comportent également de l'électronique embarquée. Il s'agit d'éléments systémiques configurés pour effectuer certaines opérations en vol et pour contrôler l'appareil. En particulier il peut s'agir de capteurs photo, de caméras vidéo, d'unités de contrôle et de commande pourvus notamment de microprocesseurs ou microcontrôleurs et de mémoires, d'appareils de géolocalisation, d'actionneurs pour piloter l'appareil ; mais aussi d'éléments systémiques pour contrôler et commander la machine électrique tournante, par exemple des capteurs de tension, des capteurs de courant, des convertisseurs de tension, etc.  These devices also include embedded electronics. These are systemic elements configured to perform certain operations in flight and to control the aircraft. In particular, it may be photo sensors, video cameras, control and control units provided in particular with microprocessors or microcontrollers and memories, geolocation devices, actuators for controlling the apparatus; but also systemic elements for controlling and controlling the rotating electrical machine, for example voltage sensors, current sensors, voltage converters, etc.
La machine électrique tournante et toute l'électronique embarquée nécessitent pour fonctionner d'être alimentées électriquement durant le vol.  The rotating electrical machine and all embedded electronics require to operate to be electrically powered during the flight.
Les appareils téléopérés peuvent comporter une ou plusieurs unités de stockage d'énergie électriques telles que des batteries. Ces appareils dits actifs peuvent présenter un rayon d'action relativement grand mais présentent une autonomie limitée et les batteries nécessitent d'être rechargées.  Teleoperated devices may include one or more electrical energy storage units such as batteries. These so-called active devices may have a relatively large range but have a limited autonomy and the batteries need to be recharged.
Il existe aussi des appareils téléopérés dits captifs qui sont alimentés électriquement durant la phase de vol par une source d'alimentation électrique reliée à l'appareil via un câble assurant des fonctions à la fois électrique et mécanique. There are also so-called captive teleoperated devices that are electrically powered during the flight phase by a power source. connected to the device via a cable providing both electrical and mechanical functions.
OBJET DE L'INVENTION  OBJECT OF THE INVENTION
L'invention vise à fournir un système d'alimentation électrique d'un appareil téléopéré captif, qui soit particulièrement performant.  The invention aims to provide a power supply system of a teleoperated captive device, which is particularly powerful.
L'invention a ainsi pour objet un système d'alimentation électrique d'un appareil téléopéré captif, comportant une source d'alimentation électrique configurée pour fournir une énergie électrique, et un câble électrique connecté électriquement à ladite source d'alimentation électrique et configuré pour acheminer ladite énergie électrique jusqu'audit appareil téléopéré captif pour alimenter au moins une machine électrique tournante et/ou des éléments systémiques embarqués dans ledit appareil téléopéré captif ; caractérisé en ce que ladite source d'alimentation électrique est configurée pour fournir une haute tension alternative triphasée, ledit câble électrique est configuré pour faire cheminer ladite haute tension alternative triphasée et ledit système comporte en outre un dispositif de gestion et de conversion d'énergie embarqué dans ledit appareil téléopéré captif et configuré pour redresser ladite haute tension alternative triphasée reçue en une haute tension continue et pour abaisser ladite haute tension continue en basse tension continue.  The invention thus relates to a power supply system for a teleoperated captive device, comprising a power source configured to provide electrical energy, and an electrical cable electrically connected to said power source and configured to conveying said electrical energy to said captive teleoperated apparatus for powering at least one rotating electrical machine and / or systemic elements embedded in said teleoperated captive apparatus; characterized in that said power supply source is configured to provide a three-phase AC high voltage, said power cable is configured to route said three-phase AC high voltage, and said system further comprises an onboard energy management and conversion device in said teleoperated apparatus captive and configured to rectify said three-phase AC high voltage received in a high DC voltage and to lower said DC high voltage to DC low voltage.
Dans le système d'alimentation électrique selon l'invention, la fourniture et le cheminement jusqu'à l'appareil téléopéré captif d'une haute tension alternative triphasée permet de satisfaire aux besoins, en particulier en puissance instantanée, de cet appareil. On notera que l'appareil peut par exemple demander une puissance de l'ordre de 2 kW à 5 kW.  In the electrical power supply system according to the invention, the provision and routing to the remote teleoperated apparatus of a three-phase AC high voltage makes it possible to satisfy the needs, in particular instantaneous power, of this apparatus. Note that the device may for example require a power of the order of 2 kW to 5 kW.
La fourniture par la source d'alimentation d'une haute tension alternative triphasée permet, pour une puissance donnée, de réduire l'intensité fournie.  The provision by the power source of a three-phase AC high voltage makes it possible, for a given power, to reduce the intensity supplied.
Le câble électrique fait ainsi cheminer une énergie électrique ayant une haute tension alternative triphasée et une faible intensité, ce qui permet d'utiliser un câble de faible diamètre et donc ayant une masse linéique réduite et des pertes par effet Joule réduites. On notera que pour un poids donné, la réduction de la masse linéique du câble électrique permet avantageusement d'en augmenter la longueur. Le système d'alimentation électrique selon l'invention permet donc d'augmenter le rayon d'action de l'appareil téléopéré captif. The electric cable thus makes use of electrical energy having a three-phase alternating high voltage and a low intensity, which makes it possible to use a cable of small diameter and therefore having a reduced linear density and reduced Joule losses. It will be noted that for a given weight, the reduction of the linear density of the electric cable advantageously makes it possible to increase the length thereof. The power supply system according to the invention therefore makes it possible to increase the radius of action of the teleoperated captive device.
Au surplus, la conversion par le dispositif de gestion et de conversion d'énergie embarqué dans l'appareil téléopéré captif, de la haute tension alternative triphasée acheminée par le câble électrique en une basse tension continue, est particulièrement commode puisque cela permet d'utiliser une machine électrique tournante et des éléments systémiques embarqués dans ledit appareil téléopéré captif qui sont alimentés de manière conventionnelle par une basse tension continue.  Moreover, the conversion by the device for managing and converting energy embedded in the teleoperated captive device, from the three-phase high-voltage supplied by the electric cable to a low DC voltage, is particularly convenient since it makes it possible to use a rotating electrical machine and systemic elements embedded in said captive teleoperated apparatus which are fed conventionally by a low DC voltage.
Grâce au système d'alimentation électrique selon l'invention, la fourniture et le cheminement jusqu'à l'appareil téléopéré captif d'une haute tension alternative triphasée n'impacte donc pas la compacité et le poids de cet appareil.  Thanks to the power supply system according to the invention, the supply and routing to the teleoperated device captive high-voltage AC three-phase does not impact the compactness and weight of this device.
La source d'alimentation électrique peut être configurée pour fournir une énergie électrique présentant une haute tension alternative triphasée ayant une valeur comprise entre environ 350 V et environ 700 V et une valeur d'intensité inférieure à 10 A ; ledit dispositif de gestion et de conversion d'énergie peut être configuré pour redresser l'énergie électrique alternative reçue en une énergie électrique continue présentant une haute tension continue ayant une valeur comprise entre environ +/-300 V et environ +/-600 V et une valeur d'intensité également inférieure à 10 A, puis pour réguler l'énergie électrique continue redressée en une énergie électrique présentant une basse tension continue ayant une valeur comprise entre environ 30 V et environ 70 V et une valeur d'intensité comprise entre environ 30 A et environ 60 A ou au plus 80 A.  The power source may be configured to provide electrical power having a three-phase high-ac voltage having a value between about 350 V and about 700 V and an intensity value of less than 10 A; said power management and conversion device may be configured to rectify the received AC electrical energy into a DC electrical power having a DC high voltage having a value between about +/- 300 V and about +/- 600 V and an intensity value also less than 10 A, and then to regulate the rectified continuous electrical energy into an electrical energy having a low DC voltage having a value between about 30 V and about 70 V and an intensity value between about 30 A and about 60 A or at most 80 A.
On notera que les valeurs positives et négatives de la haute tension continue redressée correspondent aux deux branches, aussi appelées rails, d'un redresseur triphasé.  It will be noted that the positive and negative values of the rectified DC high voltage correspond to the two branches, also called rails, of a three-phase rectifier.
Selon des caractéristiques préférées particulièrement simples, commodes et économiques du système selon l'invention : - ledit câble électrique comporte trois conducteurs principaux isolés et formés chacun d'une pluralité de brins, un conducteur de neutre et une tresse enveloppant les conducteurs principaux et de neutre ; chacun des conducteurs principaux et de neutre présentant par exemple un diamètre similaire et étant tous pourvus de brins en cuivre étamé de section égale à environ 0,38 mm2, et ladite tresse étant par exemple formée de viscose enduite d'acrylique et présentant un diamètre de l'ordre de 3,6 mm ; According to particularly preferred simple, convenient and economical features of the system according to the invention: said electrical cable comprises three insulated main conductors each formed of a plurality of strands, a neutral conductor and a braid enveloping the main and neutral conductors; each of the main conductors and neutral having for example a similar diameter and being all provided with tinned copper strands of section equal to about 0.38 mm 2 , and said braid being formed for example of viscose coated with acrylic and having a diameter of the order of 3.6 mm;
- le système est en outre configuré pour émettre depuis ledit appareil téléopéré captif une information représentative de puissance instantanée à fournir audit appareil et communiquer ladite information représentative de puissance à ladite source d'alimentation électrique par courant porteur en ligne via au moins un desdits conducteurs principaux dudit câble électrique ;  the system is further configured to transmit, from said captive teleoperated apparatus, information representative of instantaneous power to be supplied to said apparatus and to communicate said representative power information to said on-line power source by means of at least one of said main conductors; said electric cable;
- ledit câble électrique comporte en outre une fibre optique configurée pour faire transiter via ledit câble électrique des données depuis et vers ledit appareil téléopéré captif ; ladite fibre optique étant par exemple du type multimode et présentant un diamètre d'environ 0,9 mm ;  said electric cable further comprises an optical fiber configured to pass via said electric cable data from and to said captive teleoperated apparatus; said optical fiber being for example multimode type and having a diameter of about 0.9 mm;
- ledit câble électrique comporte en outre une âme centrale configurée pour assurer une fonction mécanique de retenue dudit appareil téléopéré captif ; ladite âme centrale étant par exemple formée en fibre d'aramide et présentant une charge à la rupture de l'ordre de 100 daN de sorte à jouer aussi un rôle de traction de l'appareil ;  said electric cable further comprises a central core configured to provide a mechanical holding function of said captive teleoperated apparatus; said central core being for example formed of aramid fiber and having a breaking load of the order of 100 daN so as to also play a pulling role of the apparatus;
- ledit câble électrique présente une longueur supérieure à 50 m et inférieure à environ 200 m et ledit système comporte un touret configuré pour dérouler et enrouler ledit câble électrique ;  said electric cable has a length greater than 50 m and less than approximately 200 m and said system comprises a drum configured to unroll and wind up said electric cable;
- ledit dispositif de gestion et de conversion d'énergie comporte un redresseur triphasé alternatif continu configuré pour convertir ladite haute tension alternative triphasée en haute tension continue, un premier groupe de plusieurs convertisseurs continu continu, connecté à une branche positive de sortie dudit redresseur triphasé alternatif continu et configuré pour réguler ladite haute tension continue en basse tension continue, ainsi qu'un second groupe de plusieurs convertisseurs continu continu, connecté à une branche négative de sortie dudit redresseur triphasé alternatif continu et configuré pour réguler également ladite haute tension continue en basse tension continue ; said power conversion and management device comprises a continuous AC three-phase rectifier configured to convert said high-voltage AC three-phase high voltage, a first group of several DC continuous converters connected to a positive output branch of said AC three-phase rectifier. continuous and configured to regulate said continuous high voltage DC low voltage, as well as a second group of a plurality of continuous DC converters, connected to a negative output branch of said DC rectifier AC three-phase rectifier and configured to also regulate said DC high voltage continuous low voltage;
- ledit dispositif de gestion et de conversion d'énergie comporte en outre une unité de contrôle et de commande configurée pour commander ledit redresseur triphasé alternatif continu et lesdits premier et second groupes de plusieurs convertisseurs continu continu en fonction de la puissance instantanée nécessaire audit appareil ;  said energy management and conversion device further comprises a control and control unit configured to control said continuous AC three-phase rectifier and said first and second groups of several DC continuous converters according to the instantaneous power required for said apparatus;
- ledit dispositif de gestion et de conversion d'énergie comporte en outre une pluralité de capteurs configurés pour mesurer le courant en sortie dudit redresseur triphasé alternatif continu et/ou en sortie desdits premier et second groupes de plusieurs convertisseurs continu continu, lesdits capteurs étant commandés par ladite unité de contrôle et de commande ;  said energy management and conversion device further comprises a plurality of sensors configured to measure the output current of said continuous AC three-phase rectifier and / or the output of said first and second groups of several DC continuous converters, said sensors being controlled by said control and command unit;
- ledit dispositif de gestion et de conversion d'énergie comporte en outre un contrôleur d'isolement dudit conducteur de neutre ;  said energy management and conversion device further comprises an isolation controller of said neutral conductor;
- ledit système comporte en outre une unité de stockage d'énergie tampon connectée électriquement audit dispositif de gestion et de conversion d'énergie et configurée pour alimenter, en parallèle, ladite au moins une machine électrique tournante et/ou lesdits éléments systémiques embarqués dans ledit appareil téléopéré captif ; et/ou  said system further comprises a buffer energy storage unit electrically connected to said energy conversion and management device and configured to supply, in parallel, said at least one rotating electrical machine and / or said systemic elements embedded in said teleoperated captive device; and or
- ladite source d'alimentation électrique est formée par un groupe électrogène diesel présentant une puissance nominale d'environ 6,5 kVA et ayant un conducteur de neutre isolé de la terre.  - said power source is formed by a diesel generator with a nominal power of about 6.5 kVA and having a neutral conductor isolated from the ground.
BREVE DESCRIPTION DES DESSINS  BRIEF DESCRIPTION OF THE DRAWINGS
On va maintenant poursuivre l'exposé de l'invention par la description d'exemples de réalisation, donnée ci-après à titre illustratif et non limitatif, en référence aux dessins annexés sur lesquels :  We will now continue the presentation of the invention by the description of embodiments, given below by way of illustration and not limitation, with reference to the accompanying drawings in which:
- la figure 1 est une vue schématique, en perspective, d'un véhicule terrestre sur lequel est stationné un appareil téléopéré à voilure tournante ;  - Figure 1 is a schematic perspective view of a land vehicle on which is parked a teleoperated rotary wing aircraft;
- la figure 2 est une vue schématique montrant l'appareil en phase de vol, connecté mécaniquement au véhicule par le biais d'un câble et alimenté électriquement par ce dernier ; - la figure 3 est une vue en coupe du câble illustré schématiquement sur la figure 2 ; - Figure 2 is a schematic view showing the aircraft in flight phase, mechanically connected to the vehicle through a cable and electrically powered by the latter; - Figure 3 is a sectional view of the cable shown schematically in Figure 2;
- la figure 4 est un schéma synoptique d'un système d'alimentation et de gestion électrique au niveau du véhicule et vers l'appareil ;  - Figure 4 is a block diagram of a power supply system and electrical management at the vehicle and to the device;
- la figure 5 est un schéma similaire à celui de la figure 4, montrant le système d'alimentation et de gestion électrique au niveau de l'appareil ; et  - Figure 5 is a diagram similar to that of Figure 4, showing the power supply system and electrical management at the device; and
- la figure 6 est un schéma synoptique détaillant un dispositif de gestion et de conversion de tension du système d'alimentation et de gestion électrique, intégré dans l'appareil.  FIG. 6 is a block diagram detailing a device for managing and converting voltage of the power supply and electrical management system integrated in the apparatus.
DESCRIPTION DETAILLEE D'EXEMPLES DE REALISATION  DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS
La figure 1 montre un véhicule terrestre 1 , ici du type pickup, c'est-à- dire comportant une caisse 2 à l'arrière du véhicule 1 , sur laquelle est monté un châssis 3 formé par des longerons 4, des traverses 5 raccordées chacune à des longerons 4 et des poteaux 6 raccordés chacun à des longerons 4 ou à des traverses 5 de sorte à former une structure métallique dite en cadres, définissant un espace interne 7.  FIG. 1 shows a land vehicle 1, here of the pickup type, that is to say having a body 2 at the rear of the vehicle 1, on which is mounted a chassis 3 formed by longitudinal members 4, crosspieces 5 connected each to longitudinal members 4 and posts 6 each connected to longitudinal members 4 or crosspieces 5 so as to form a metal structure known as frames, defining an internal space 7.
La figure 1 montre en outre un système de maintien 8 introduit dans l'espace interne 7 du châssis 3, prévu pour maintenir en position stationnée un appareil téléopéré 10 à voilure tournante 13.  FIG. 1 further shows a holding system 8 introduced into the internal space 7 of the chassis 3, designed to maintain in parked position a teleoperated rotary wing apparatus 13.
Le système de maintien 8 comporte une plateforme mobile de réception 9 prévue pour accueillir l'appareil 10, une paroi latérale 10 ici cylindrique, qui délimite en périphérie un espace d'accueil 12 pour l'appareil 10, ainsi qu'un dispositif de blocage 1 1 monté sur la paroi latérale 13 et qui est configuré pour bloquer la voilure tournante 13 de l'appareil 10 lorsque ce dernier est en position stationnée sur la plateforme 9 et dans l'espace d'accueil 12.  The holding system 8 comprises a mobile receiving platform 9 intended to receive the apparatus 10, a side wall 10 here cylindrical, delimiting at the periphery a reception space 12 for the apparatus 10, as well as a locking device 1 1 mounted on the side wall 13 and which is configured to block the rotary wing 13 of the apparatus 10 when the latter is in the stationary position on the platform 9 and in the reception area 12.
La figure 1 montre en outre une pluralité de coffrets électriques et/ou mécaniques 14 montés sur le châssis 3 et qui comportent chacun des éléments systémiques électroniques et/ou électrotechniques et/ou mécaniques pour permettre à l'appareil 10 d'effectuer des phases de vol durant lesquelles il doit réaliser des missions (ou tâches). Comme cela est visible schématiquement sur la figure 2, l'appareil 10 est ici un drone, c'est-à-dire un appareil téléopéré aérien à voilure tournante. FIG. 1 furthermore shows a plurality of electrical and / or mechanical boxes 14 mounted on the frame 3 and which each comprise electronic and / or electrotechnical and / or mechanical system elements to enable the apparatus 10 to carry out phases of flight during which he must perform missions (or tasks). As can be seen schematically in FIG. 2, the apparatus 10 is here a drone, that is to say an aerial teleoperated apparatus with a rotary wing.
Cet appareil 10 comporte un corps principal 15 pourvu d'une machine électrique tournante 16 (visible sur la figure 5) utilisée en mode moteur et d'électronique embarquée formée par des éléments systémiques, par exemple des unités de contrôle et de commande pourvus notamment de microprocesseurs ou microcontrôleurs et de mémoires, des appareils de géolocalisation, des actionneurs pour piloter l'appareil, mais aussi d'éléments systémiques pour contrôler et commander la machine électrique tournante, par exemple des capteurs de tension, des capteurs de courant, des convertisseurs de tension, etc. (voir ci-après plus en détail).  This apparatus 10 comprises a main body 15 provided with a rotating electrical machine 16 (visible in FIG. 5) used in motor mode and on-board electronics formed by systemic elements, for example control and control units provided in particular with microprocessors or microcontrollers and memories, geolocation devices, actuators for controlling the apparatus, but also systemic elements for controlling and controlling the rotating electrical machine, for example voltage sensors, current sensors, power converters, voltage, etc. (see below in more detail).
L'appareil 10 comporte en outre deux jeux de plusieurs pales 13 (ici trois) disposés de part et d'autre du corps principal 15, un jeu dit supérieur et un jeu dit inférieur, chaque pale 13 d'un jeu de pales étant reliée mécaniquement à un rotor de la machine électrique tournante 16. Les deux jeux de pales 13 forment ici la voilure tournante de l'appareil 10.  The apparatus 10 further comprises two sets of several blades 13 (here three) disposed on either side of the main body 15, a so-called upper set and a lower set, each blade 13 of a set of blades being connected. mechanically to a rotor of the rotating electrical machine 16. The two sets of blades 13 here form the rotary wing of the apparatus 10.
On notera que la machine électrique tournante 16 est par exemple un moteur sans balai dit en terminologie anglo-saxonne « brushless ».  Note that the rotating electrical machine 16 is for example a brushless motor said in English terminology "brushless".
L'appareil 10 comporte également plusieurs pieds 17 (ici trois) s'étendant depuis le corps principal 15, sous le jeu inférieur de pales 1 , à l'opposé des pieds 17, un capot 18 situé au-dessus du corps principal 15 et du jeu de pales 13 dit supérieur, lequel capot 18 est pourvu aussi d'électronique embarquée et en particulier de systèmes de communication, dont par exemple une antenne (non illustrée) saillant de ce capot ; et d'autres éléments systémiques, par exemple des capteurs vidéo et/ou photo 19 logés sous le corps principal 15 et le jeu de pales 13 dit inférieur, entre les pieds 17.  The apparatus 10 also comprises several feet 17 (here three) extending from the main body 15, under the lower set of blades 1, opposite the feet 17, a cover 18 situated above the main body 15 and the blade set 13 said upper, which cover 18 is also provided with embedded electronics and in particular communication systems, including for example an antenna (not shown) protruding from the cover; and other systemic elements, for example video and / or photo sensors 19 housed under the main body 15 and the lower set of blades 13, between the legs 17.
La machine électrique tournante 13 et toute l'électronique embarquée nécessitent, pour fonctionner, d'être alimentées électriquement durant les phases de vol.  The rotating electrical machine 13 and all the embedded electronics require, in order to function, to be electrically powered during the flight phases.
L'appareil 10 est ici raccordé électriquement et mécaniquement par un câble électrique 20 à une source d'alimentation électrique 21 (visible sur la figure 4) montée sur le châssis 3. La source d'alimentation électrique 21 est configurée pour fournir une énergie électrique et le câble 20 est connecté électriquement à la source d'alimentation électrique 21 et il est configuré pour acheminer l'énergie électrique jusqu'à l'appareil 10 pour alimenter au moins la machine électrique tournante 16, voire tous les éléments systémiques embarqués dans l'appareil 10. The apparatus 10 is here electrically and mechanically connected by an electric cable 20 to a power supply 21 (visible in FIG. 4) mounted on the chassis 3. The power source 21 is configured to provide electrical power and the cable 20 is electrically connected to the power source 21 and is configured to route electrical power to the apparatus 10 to power at least the rotating electrical machine 16, or even all the systemic elements embedded in the apparatus 10.
En particulier, la source d'alimentation électrique 21 est configurée pour fournir une haute tension alternative triphasée et le câble électrique 20 est configuré pour faire cheminer cette haute tension alternative triphasée vers l'appareil 10.  In particular, the power source 21 is configured to provide a three-phase AC high voltage and the electrical cable 20 is configured to route this high-voltage three-phase AC to the apparatus 10.
Un tel appareil 10 est dit captif puisque son rayon d'action est limité par la longueur du câble 20.  Such an apparatus 10 is said to be captive since its radius of action is limited by the length of the cable 20.
Ici, le câble 20 présente une longueur supérieure à 50 m et inférieure à environ 200 m, et de préférence environ 150 m.  Here, the cable 20 has a length greater than 50 m and less than about 200 m, and preferably about 150 m.
La figure 3 montre, en section, le détail du câble 20, qui comporte trois conducteurs principaux 22 isolés chacun par une gaine 23 et formés ici chacun d'une pluralité de brins 24.  FIG. 3 shows, in section, the detail of the cable 20, which comprises three main conductors 22 each insulated by a sheath 23 and each formed here of a plurality of strands 24.
Chaque conducteur principal 22 est dédié à une des trois phases au système de tension (ou courant) triphasé généré par la source d'alimentation électrique 21 .  Each main conductor 22 is dedicated to one of the three phases to the three-phase voltage (or current) system generated by the power supply 21.
Les brins 24 sont par exemple en cuivre étamé et présente une forme sensiblement hexagonale dont la section (l'aire) est ici environ égale à 0,38 mm2. The strands 24 are for example tinned copper and has a substantially hexagonal shape whose section (the area) is here equal to 0.38 mm 2 .
La gaine 23 est par exemple réalisée en élastomère thermoplastique, notamment en polyester.  The sheath 23 is for example made of thermoplastic elastomer, in particular polyester.
Le câble 20 comporte en outre un conducteur de neutre 25 isolés par une gaine 26, par exemple similaire à la gaine 23, et formés chacun d'une pluralité de brins 27, par exemple aussi similaires aux brins 24.  The cable 20 further comprises a neutral conductor 25 insulated by a sheath 26, for example similar to the sheath 23, and each formed of a plurality of strands 27, for example also similar to the strands 24.
Le câble 20 comporte ici une fibre optique 28 configurée pour faire transiter via le câble 20 des données depuis et vers l'appareil 10.  The cable 20 here comprises an optical fiber 28 configured to pass data via cable 20 to and from the apparatus 10.
La fibre optique 28 est par exemple du type multimode, notamment Gl 62,5/125, et présente un diamètre d'environ 0,9 mm.  The optical fiber 28 is for example of the multimode type, especially Gl 62.5 / 125, and has a diameter of about 0.9 mm.
Le câble 20 comporte en outre ici une âme centrale 29 configurée pour assurer une fonction mécanique de retenue de l'appareil 10. L'âme centrale 29 est par exemple formée en fibre d'aramide et peut présenter une charge à la rupture de l'ordre de 100 daN de sorte à jouer aussi un rôle de traction de l'appareil 10. The cable 20 further comprises here a central core 29 configured to provide a mechanical function for retaining the device 10. The central core 29 is for example formed of aramid fiber and may have a breaking load of the order of 100 daN so as to also play a pulling role of the apparatus 10.
Le câble 20 comporte également une tresse 30 enveloppant les conducteurs principaux 22, le conducteur de neutre 25, la fibre optique 28 et l'âme centrale 29.  The cable 20 also comprises a braid 30 enveloping the main conductors 22, the neutral conductor 25, the optical fiber 28 and the central core 29.
La tresse 30 est par exemple formée de viscose enduite d'acrylique et présente un diamètre d'environ 3,6 mm.  The braid 30 is for example formed of viscose coated with acrylic and has a diameter of about 3.6 mm.
Le câble 20 illustré sur la figure 3 présente ici une masse linéique comprise entre environ 20 g/m et environ 30 g/m.  The cable 20 illustrated in Figure 3 here has a linear density of between about 20 g / m and about 30 g / m.
On notera que l'ensemble formé au moins du câble 20 de la source d'alimentation électrique 16 forme un système d'alimentation électrique 21 de l'appareil 10.  It will be noted that the assembly formed at least of the cable 20 of the power supply source 16 forms a power supply system 21 of the apparatus 10.
Dans ce système d'alimentation électrique, la fourniture et le cheminement jusqu'à l'appareil 10 d'une haute tension alternative triphasée permet de satisfaire aux besoins, en particulier en puissance instantanée, de cet appareil 10. On notera que l'appareil 10 peut par exemple demander une puissance de l'ordre de 2 kW à 5 kW.  In this power supply system, supply and routing to the apparatus 10 of a three-phase AC high voltage makes it possible to satisfy the needs, in particular instantaneous power, of this apparatus 10. It will be noted that the apparatus 10 may for example require a power of the order of 2 kW to 5 kW.
La fourniture par la source d'alimentation 21 d'une haute tension alternative triphasée permet, pour une puissance donnée, de réduire l'intensité fournie et donc transitée dans le câble 20.  The supply by the power source 21 of a three-phase AC high voltage makes it possible, for a given power, to reduce the intensity supplied and thus transited in the cable 20.
Le câble 20 chemine ainsi une énergie électrique ayant une haute tension alternative triphasée et une faible intensité, ce qui permet d'utiliser un câble de faible diamètre et donc ayant une masse linéique réduite et des pertes par effet Joule réduites.  The cable 20 thus travels electrical energy having a three-phase AC high voltage and a low intensity, which makes it possible to use a cable of small diameter and therefore having a reduced linear density and reduced Joule losses.
On notera que pour un poids donné, la réduction de la masse linéique du câble 20 permet avantageusement d'en augmenter la longueur. Le système d'alimentation électrique permet donc ici à l'appareil d'avoir un rayon d'action particulièrement grand pour un appareil téléopéré captif. On va maintenant décrire plus en détail ce système d'alimentation et les éléments connexes à ce système d'alimentation en référence aux figures 4 à 6. It will be noted that for a given weight, the reduction of the linear density of the cable 20 advantageously makes it possible to increase the length thereof. The power supply system therefore allows the device here to have a particularly large radius of action for a teleoperated captive device. We will now describe in more detail this power system and the elements related to this power system with reference to Figures 4 to 6.
Sur la figure 4 est représenté un schéma synoptique d'éléments du système d'alimentation électrique, associé notamment à des éléments d'un système de gestion électrique et d'un système de gestion de données, au niveau du véhicule 1 et en particulier sur le châssis 3, vers l'appareil 10.  FIG. 4 is a block diagram of elements of the power supply system, associated in particular with elements of an electrical management system and a data management system, at the level of the vehicle 1 and in particular on the the chassis 3, towards the apparatus 10.
Ces systèmes d'alimentation et de gestion électrique comportent le câble 20 raccordé à une extrémité au corps principal 15 de l'appareil 10 et, à une extrémité opposé, à un touret configuré pour dérouler et enrouler le câble électrique 20.  These power supply and electrical management systems comprise the cable 20 connected at one end to the main body 15 of the apparatus 10 and, at one opposite end, to a drum configured to unroll and wind up the electric cable 20.
Ces systèmes d'alimentation et de gestion électrique comportent en outre la source d'alimentation électrique 21 formée ici par un groupe électrogène, par exemple diesel, présentant une puissance nominale d'environ 6,5 kVA et ayant un régime de neutre dit IT, avec notamment un conducteur de neutre isolé de la terre.  These power supply and electrical management systems also comprise the power supply source 21 formed here by a generator, for example a diesel generator, having a nominal power of about 6.5 kVA and having a so-called neutral IT regime, with in particular a neutral conductor isolated from the ground.
La source d'alimentation électrique 21 peut être configurée pour fournir une énergie électrique présentant une haute tension alternative triphasée ayant une valeur comprise entre environ 350 V et environ 700 V et une valeur d'intensité inférieure à 10 A.  The power source 21 may be configured to provide electrical power having a three-phase high-ac voltage having a value between about 350 V and about 700 V and an intensity value of less than 10 A.
Cette source d'alimentation électrique 21 est connectée, via un câble de puissance 100, à un dispositif conditionneur 32 qui est configuré pour transférer, via un câble de puissance 101 , l'énergie électrique présentant une haute tension alternative triphasée d'abord à un dispositif de commande 33 du touret 31 , puis au câble 20 enroulé sur le touret 31 , via un câble de puissance 102 connectant le touret 31 à son dispositif de commande 33.  This power source 21 is connected, via a power cable 100, to a conditioning device 32 which is configured to transfer, via a power cable 101, the electrical energy having a high-voltage three-phase AC first to a control device 33 of the drum 31, then to the cable 20 wound on the drum 31, via a power cable 102 connecting the drum 31 to its control device 33.
On notera que le dispositif conditionneur 32 est en outre connecté au dispositif de commande 33 du touret 31 , via un câble de commande 200 pour alimenter électriquement le dispositif de commande 33 et/ou pour fournir/recevoir des instructions de commande, et aussi via un autre câble de puissance 103 pour commander l'enroulement et le déroulement du touret 31 en fonction de paramètres prédéterminés. On entend ici par câbles de puissance, des câbles capables de faire transiter une énergie électrique présentant une haute tension alternative triphasée ayant une valeur comprise entre environ 350 V et environ 700 V et une valeur d'intensité inférieure à 10 A. Il s'agit de câbles présentant quatre conducteurs, dont un conducteur par phase et un conducteur de neutre. It will be noted that the conditioning device 32 is furthermore connected to the control device 33 of the drum 31, via a control cable 200 for electrically feeding the control device 33 and / or for providing / receiving control instructions, and also via a another power cable 103 for controlling the winding and unwinding of the drum 31 according to predetermined parameters. Here, the term "power cables" refers to cables capable of passing electrical energy having a high-voltage three-phase AC having a value of between about 350 V and about 700 V and an intensity value of less than 10 A. of cables having four conductors, one conductor per phase and one neutral conductor.
Ces câbles peuvent en outre faire transiter des données par courant porteur en ligne de sorte qu'ils peuvent être communiquant, de manière unidirectionnelle ou bidirectionnelle.  These cables can further transmit power line data in line so that they can be communicating unidirectionally or bidirectionally.
On entend ici par câbles de commande, des câbles (mono conducteur ou multi conducteurs) capables de faire transiter une énergie électrique présentant une basse tension continue, par exemple de l'ordre de 12 V à moins de 100 V et qui peuvent en outre faire transiter des données par courant porteur en ligne de sorte qu'ils peuvent être communiquant, de manière unidirectionnelle ou bidirectionnelle.  Here, the term "control cables" refers to cables (single-conductor or multi-conductor) capable of passing electrical energy having a low direct voltage, for example of the order of 12 V to less than 100 V, and which may furthermore passing power line data in line so that they can be communicating unidirectionally or bidirectionally.
Les systèmes d'alimentation et de gestion électrique comportent en outre un dispositif de commande 34 du système de maintien 8, dont la plateforme 9 et le dispositif de blocage 1 1 .  The power supply and electrical management systems furthermore comprise a control device 34 for the holding system 8, including the platform 9 and the locking device 11.
Ce dispositif de commande 34 du système de maintien 8 est connecté, via un câble de commande 201 et aussi via un câble de semi- puissance 300, d'une part pour alimenter électriquement le dispositif de commande 34 et/ou pour fournir/recevoir des instructions de commande, et d'autre part pour commander le déplacement de la plateforme 9 et/ou le blocage/déblocage de la voilure tournante de l'appareil 10 par le dispositif de blocage 1 1 .  This control device 34 of the holding system 8 is connected, via a control cable 201 and also via a semi-power cable 300, firstly to electrically power the control device 34 and / or to provide / receive control instructions, and secondly to control the displacement of the platform 9 and / or the locking / unlocking of the rotary wing of the apparatus 10 by the blocking device 1 1.
On entend ici par câbles de semi-puissance, des câbles capables de faire transiter une énergie électrique présentant une moyenne tension continue, par exemple de l'ordre de 230 V et qui peuvent en outre faire transiter des données par courant porteur en ligne de sorte qu'ils peuvent être communiquant, de manière unidirectionnelle ou bidirectionnelle.  The term "semi-power cables" is used here to mean cables capable of transmitting electrical energy having a medium DC voltage, for example of the order of 230 V, which can furthermore transmit power line data in line so that that they can be communicating, unidirectionally or bi-directionally.
Le système de maintien 8 est donc connecté via une pluralité de câbles de commande 202 au dispositif de commande 34 de ce système de maintien 8. Les systèmes d'alimentation et de gestion électrique comportent également un dispositif de commande 35 dit cabine, connecté via un câble de commande 203 au dispositif de commande 34 du système de maintien 8, et qui permet notamment de fournir/recevoir des ordres/instructions de commande autant vers/depuis le système de maintien que vers/depuis l'appareil. On notera que ce dispositif de commande 35 dit cabine est configuré pour communiquer avec un ordinateur 37 (voir ci-après). The holding system 8 is thus connected via a plurality of control cables 202 to the control device 34 of this holding system 8. The power supply and electrical management systems also comprise a control device 35 called cabin, connected via a control cable 203 to the control device 34 of the holding system 8, and which makes it possible, in particular, to supply / receive commands / instructions from controls both to / from the holding system and to / from the device. Note that this control device 35 cabin is configured to communicate with a computer 37 (see below).
Les systèmes d'alimentation et de gestion électrique comportent aussi une unité de stockage d'énergie 36 dite de secours, ici une batterie de type 24 V et 20 Ah, connectée au dispositif de commande 34 du système de maintien 8 via un câble de commande 204.  The power supply and electrical management systems also comprise a so-called backup energy storage unit 36, here a 24 V and 20 Ah type battery, connected to the control device 34 of the holding system 8 via a control cable. 204.
Le système de gestion de données illustré sur la figure 4 est pourvu, au niveau du châssis 3, d'un ordinateur 37 prévu pour le contrôle et la commande de la mission effectuée par l'appareil 10 et d'un terminal de liaison de données 38 relié à l'ordinateur 37 par un câble informatique 400, ici du type Ethernet. Cet ordinateur 37 est configuré pour communiquer, par exemple par une liaison sans fil ou en variante par une liaison filaire (non illustrée), avec le dispositif de commande 35 dit cabine.  The data management system illustrated in FIG. 4 is provided, at the level of the chassis 3, with a computer 37 intended for control and control of the mission carried out by the apparatus 10 and a data link terminal. 38 connected to the computer 37 by a computer cable 400, here Ethernet type. This computer 37 is configured to communicate, for example by a wireless link or alternatively by a wire link (not shown), with the control device 35 said cabin.
Ce terminal de liaison de données 38 est également connecté au dispositif conditionneur 32 via un câble de commande 205 et au câble 20 par une fibre optique 401 .  This data link terminal 38 is also connected to the conditioner device 32 via a control cable 205 and to the cable 20 by an optical fiber 401.
On notera que le dispositif conditionneur 32 n'est pas illustré en détail mais peut comporter par exemple un microcontrôleur, un sectionneur, des contacteurs, une protection différentielle, un disjoncteur, un relais thermique, des relais de contrôle, des transformateurs, des dispositifs de mesure de courant, un récepteur de données par courant porteur en ligne, des filtres (notamment pour les données par courant porteur en ligne et pour l'harmonique dite de rang 3 générée dans le système électrique alternatif triphasé) et/ou des résistances. On notera également que le dispositif conditionneur 32 peut être relié à la terre. Sur la figure 5 est représenté un schéma synoptique d'éléments des systèmes d'alimentation électrique, de gestion électrique et de gestion de données, au niveau de l'appareil 10, donc embarqués. It will be noted that the conditioner device 32 is not illustrated in detail but may comprise for example a microcontroller, a disconnector, contactors, a differential protection, a circuit breaker, a thermal relay, control relays, transformers, current measurement, an in-line carrier data receiver, filters (especially for in-line carrier data and for the so-called third rank harmonic generated in the three-phase AC electrical system) and / or resistors. It will also be noted that the conditioning device 32 can be connected to the earth. FIG. 5 shows a block diagram of elements of the power supply, electrical management and data management systems, at the level of the device 10, and therefore on board.
Ces systèmes sont pourvus, au niveau de l'appareil 10, d'un dispositif de gestion et de conversion d'énergie 39 connecté aux trois conducteurs 22 et au conducteur de neutre 25 du câble 20.  These systems are provided, at the device 10, with a power management and conversion device 39 connected to the three conductors 22 and to the neutral conductor 25 of the cable 20.
Le dispositif de gestion et de conversion d'énergie 39 est configuré pour redresser la haute tension alternative triphasée délivrée par la source 21 et acheminée par le câble 20, en une haute tension continue et aussi pour abaisser la haute tension continue redressée en basse tension continue.  The energy management and conversion device 39 is configured to rectify the three-phase high-voltage supply delivered by the source 21 and conveyed by the cable 20, in a high DC voltage and also to lower the high DC voltage rectified in low DC voltage. .
La conversion par le dispositif de gestion et de conversion d'énergie 39 embarqué dans l'appareil 10, de la haute tension alternative triphasée acheminée par le câble électrique 20 en une basse tension continue, est particulièrement commode puisque cela permet d'utiliser une machine électrique tournante 16 et des éléments systémiques embarqués dans l'appareil 10 qui sont alimentés par une basse tension continue.  The conversion by the energy management and conversion device 39 embedded in the apparatus 10, from the high-voltage three-phase AC conveyed by the electric cable 20 to a low DC voltage, is particularly convenient since it makes it possible to use a machine rotating electrical 16 and systemic elements embedded in the apparatus 10 which are powered by a low DC voltage.
En entrée du dispositif de gestion et de conversion d'énergie 39, l'énergie électrique peut présenter une valeur de tension égale par exemple à environ 500 V et une valeur d'intensité ne dépassant pas 4 A et, en sortie du dispositif de gestion et de conversion d'énergie 39, l'énergie électrique peut présenter une valeur de tension comprise entre environ 36 V et environ 50 V ainsi qu'une valeur d'intensité ne dépassant pas 80 A.  At the input of the energy management and conversion device 39, the electrical energy may have a voltage value of, for example, approximately 500 V and an intensity value of not more than 4 A, and at the output of the management device and energy conversion 39, the electrical energy may have a voltage value of between about 36 V and about 50 V and an intensity value of not more than 80 A.
Le dispositif de gestion et de conversion d'énergie 39 est connecté, via un câble de commande 206 et aussi via un bus informatique 402, à un dispositif calculateur de vol 40.  The energy management and conversion device 39 is connected, via a control cable 206 and also via a computer bus 402, to a flight calculator device 40.
Un tel dispositif calculateur de vol 40 peut comporter par exemple un boîtier calculateur de vol, un modem fibre optique connecté à la fibre optique 28 du câble 20, une centrale inertielle pour la navigation de l'appareil 10 et être connecté notamment via des câbles/bus informatiques et de communication à un ensemble de commande de vol commandant les actionneurs pour piloter l'appareil, à un système de géolocalisation par exemple situé dans le capot 18 de l'appareil 10, et les capteurs vidéo et/ou photo 19 logés sous le corps principal 15 entre les pieds 17 de l'appareil 10. Such a flight calculator device 40 may comprise, for example, a flight computer package, an optical fiber modem connected to the optical fiber 28 of the cable 20, an inertial unit for the navigation of the device 10, and in particular to be connected via cables / computer and communication buses to a flight control unit controlling the actuators for driving the aircraft, to a geolocation system for example located in the hood 18 of the apparatus 10, and the video and / or photo sensors 19 housed under the main body 15 between the legs 17 of the apparatus 10.
Le dispositif de gestion et de conversion d'énergie 39 est en outre connecté, via un câble de commande 207 raccordé par piquage (en un point de dérivation) sur le câble de commande 206, à un contrôleur moteur 41 . Ce contrôleur moteur 41 est configuré pour alimenter électriquement la machine électrique tournante 16 (et ainsi la rotation des pales 13), via plusieurs câbles de commande 208. Ici, il y a trois câbles de commande 208 qui alimeneant trois bobines (ou six demi-bobines reliées deux à deux) disposées dans le moteur sans balai.  The energy management and conversion device 39 is furthermore connected via a control cable 207 connected by stitching (at a tap point) to the control cable 206 to a motor controller 41. This motor controller 41 is configured to electrically power the rotating electrical machine 16 (and thus the rotation of the blades 13), via several control cables 208. Here, there are three control cables 208 which feed three coils (or six half-turns). coils connected two by two) arranged in the brushless motor.
Le contrôleur moteur est aussi connecté via deux câbles de communication 403 et 404, respectivement ici du type PPM et du type TTL, au dispositif calculateur de vol 40.  The motor controller is also connected via two communication cables 403 and 404, here respectively of the PPM type and of the TTL type, to the flight calculator device 40.
Ces systèmes sont en outre pourvus, au niveau de l'appareil 10, d'une unité de stockage d'énergie 42, ici une batterie dite tampon capable de délivrer par exemple jusqu'à 80 A en décharge et de recevoir par exemple 10 A en charge.  These systems are furthermore provided, at the level of the apparatus 10, with a power storage unit 42, here a so-called buffer battery capable of delivering, for example, up to 80 A in discharge and receiving, for example, 10 A in charge.
Cette batterie tampon 42 est connectée au dispositif calculateur de vol 40 via un bus informatique 405, et est également connecté à un dispositif de mesure de courant 43 via un câble de commande 209.  This buffer battery 42 is connected to the flight calculator device 40 via a computer bus 405, and is also connected to a current measuring device 43 via a control cable 209.
Ce dispositif de mesure de courant 43 est aussi connecté d'une part, au dispositif de gestion et de conversion d'énergie 39 via un câble analogique 406 et d'autre part, au contrôleur moteur 41 via un câble de commande 210 qui est raccordé par un piquage (en un point de dérivation) sur le câble de commande 207 raccordant le contrôleur moteur 41 au dispositif de gestion et de conversion d'énergie 39.  This current measurement device 43 is also connected on the one hand to the power management and conversion device 39 via an analog cable 406 and on the other hand to the motor controller 41 via a control cable 210 which is connected. by a tap (at a tap) on the control cable 207 connecting the motor controller 41 to the power management and conversion device 39.
La batterie tampon 42 se trouve ainsi connectée en parallèle du dispositif de gestion et de conversion d'énergie 39.  The buffer battery 42 is thus connected in parallel with the power management and conversion device 39.
Le dispositif de gestion et de conversion d'énergie 39 et la batterie tampon 42 peuvent tous deux être utilisés pour alimenter la machine électrique tournante 16 et le dispositif calculateur de vol 40, respectivement via les câbles de commande 206 et 207 pour le dispositif de gestion et de conversion d'énergie 39, et via les câbles de commande 209, 210, 207 et 206 pour la batterie tampon 42. The energy management and conversion device 39 and the buffer battery 42 can both be used to power the rotating electrical machine 16 and the flight calculator device 40, respectively via the transmission cables. control 206 and 207 for the power management and conversion device 39, and via the control cables 209, 210, 207 and 206 for the buffer battery 42.
Sur la figure 6 est illustré plus en détail le dispositif de gestion et de conversion d'énergie 39, lequel comporte un redresseur triphasé alternatif continu 44 configuré pour convertir la haute tension alternative triphasée en haute tension continue, un premier groupe de plusieurs convertisseurs continu continu 45 (ici au nombre de trois), connecté à une branche positive de sortie du redresseur triphasé alternatif continu 44 et configuré pour réguler la haute tension continue en basse tension continue, ainsi qu'un second groupe de plusieurs convertisseurs continu continu 46, connecté à (ici aussi au nombre de trois)une branche négative de sortie du redresseur triphasé alternatif continu 44 et configuré pour réguler également la haute tension continue en basse tension continue.  FIG. 6 illustrates in greater detail the energy management and conversion device 39, which comprises a continuous AC three-phase rectifier 44 configured to convert the high-voltage AC three-phase to a high-DC voltage, a first group of several continuous DC converters. 45 (here three in number), connected to a positive output branch of the continuous AC three-phase rectifier 44 and configured to regulate the continuous high voltage DC, as well as a second group of several DC continuous converters 46, connected to (here also three in number) a negative output branch of the AC DC rectifier 44 and configured to also regulate the continuous high voltage DC low voltage.
Le dispositif de gestion et de conversion d'énergie 39 comporte en outre une unité de contrôle et de commande 47 configurée pour commander le redresseur triphasé alternatif continu 44 et/ou et les premier et second groupes de plusieurs convertisseurs continu continu 45 et 46 en fonction de la puissance instantanée nécessaire à l'appareil 10.  The power management and conversion device 39 further comprises a control and control unit 47 configured to control the continuous AC three-phase rectifier 44 and / or and the first and second groups of a plurality of DC DCs 45 and 46 in accordance with one another. the instantaneous power required for the device 10.
Une telle unité de contrôle et de commande 47 peut comporter par exemple un microcontrôleur, un module de gestion de l'équilibrage des courants sur les branches positive et négative du redresseur alternatif triphasé 44, un module de gestion de la batterie tampon 42, un module de gestion d'une commande marche/arrêt de l'appareil 10 et/ou une ou plusieurs alimentations électriques auxiliaires.  Such a control and control unit 47 may comprise, for example, a microcontroller, a module for managing the balancing of currents on the positive and negative branches of the three-phase rectifier 44, a module for managing the buffer battery 42, a module managing an on / off control of the apparatus 10 and / or one or more auxiliary power supplies.
Cette unité de contrôle et de commande 47 peut recevoir via le câble analogique 406 une information représentative du courant de charge/décharge de la batterie tampon 42 mesurée par le dispositif de mesure de courant 43 ; peut envoyer une instruction de marche/arrêt, notée M/A sur la figure 6, de l'appareil 10 ; et est connectée au dispositif calculateur de vol 40 via le bus informatique 402.  This control and control unit 47 can receive via the analog cable 406 information representative of the charging / discharging current of the buffer battery 42 measured by the current measuring device 43; can send an on / off instruction, denoted M / A in Figure 6, of the apparatus 10; and is connected to the flight calculator device 40 via the computer bus 402.
On notera que le redresseur triphasé alternatif continu 44 peut être configuré pour redresser l'énergie électrique alternative reçue en une énergie électrique continue présentant une haute tension continue ayant une valeur comprise entre environ +/-300 V et environ +/-600 V, et une valeur d'intensité également inférieure à 10 A, et plus particulièrement ici +/-410 V et au plus 5 A. It will be noted that the continuous AC three-phase rectifier 44 may be configured to rectify the received AC electrical energy into a continuous electrical energy having a DC high voltage having a value between about +/- 300 V and about +/- 600 V, and an intensity value also less than 10 A, and more particularly here +/- 410 V and at most 5 A.
Les valeurs positives et négatives de la haute tension continue redressée correspondent aux deux branches, positives et négatives, aussi appelées rails, du redresseur triphasé 44.  The positive and negative values of the rectified DC high voltage correspond to the two branches, positive and negative, also called rails, of the three-phase rectifier 44.
On notera également que les premier et second groupes de plusieurs convertisseurs continu continu 45 et 46 peuvent être configurés pour réguler l'énergie électrique continue redressée en une énergie électrique présentant une basse tension continue ayant une valeur comprise entre environ 30 V et environ 70 V et une valeur d'intensité comprise entre 30 A et 60 A, et plus particulièrement ici 50 V et au plus 80 A.  It will also be noted that the first and second groups of a plurality of continuous DC converters 45 and 46 may be configured to regulate the rectified DC electrical energy into electrical energy having a low DC voltage having a value between about 30 V and about 70 V and an intensity value of between 30 A and 60 A, and more particularly here 50 V and at most 80 A.
Plus précisément, sur la figure 6, le dispositif de gestion et de conversion d'énergie 39 comporte un dispositif d'entrée 48 ayant un filtre primaire connecté aux conducteurs principaux 22 et au conducteur de neutre 25 du câble 20.  More specifically, in FIG. 6, the power management and conversion device 39 comprises an input device 48 having a primary filter connected to the main conductors 22 and to the neutral conductor 25 of the cable 20.
Ce dispositif d'entrée 48 est connecté via un câble de puissance 210 au redresseur triphasé alternatif continu 44.  This input device 48 is connected via a power cable 210 to the continuous AC three-phase rectifier 44.
Le dispositif de gestion et de conversion d'énergie 39 comporte en outre un émetteur de courant porteur en ligne 49 connecté, via un câble de communication 407 ici du type RS-232, à l'unité de contrôle et de commande 47 et, par une prolongation 408 du câble de communication 407, au dispositif d'entrée 48 qui est également pourvu d'un injecteur de données par courant porteur en ligne.  The energy management and conversion device 39 furthermore comprises an on-line carrier power transmitter 49 connected via a communication cable 407, here of the RS-232 type, to the control and control unit 47, and by an extension 408 of the communication cable 407, to the input device 48 which is also provided with an in-line carrier data injector.
On notera que cet émetteur de courant porteur en ligne 49 est configuré pour injecter dans un des conducteurs principaux 22 du câble 20 une information représentative de puissance instantanée à fournir à l'appareil, laquelle information transite via les câbles de puissance 102 et 101 au moins jusqu'au dispositif conditionneur 32.  It will be noted that this in-line carrier transmitter 49 is configured to inject into one of the main conductors 22 of the cable 20 representative information of instantaneous power to be supplied to the apparatus, which information passes via the power cables 102 and 101 at least to the conditioner device 32.
Le dispositif de gestion et de conversion d'énergie 39 comporte en outre un contrôleur d'isolement 50 du conducteur de neutre 25 du câble 20, lequel contrôleur d'isolement 50 est connecté au dispositif d'entrée 48 via un câble de puissance 21 1 et, à l'unité de contrôle et de commande 47 via un câble analogique 409. The energy management and conversion device 39 further comprises an isolation controller 50 of the neutral conductor 25 of the cable 20, which isolation controller 50 is connected to the input device 48 via a power cable 21 1 and, to the control and control unit 47 via an analog cable 409.
Le dispositif de gestion et de conversion d'énergie 39 comporte aussi des dispositifs de mesure de courant redressé 53 et 54, connectés en sortie respectivement des branches positive et négative du redresseur triphasé alternatif continu 44, via des câbles de puissance respectifs 214 et 215 qui se prolongent respectivement jusqu'au premier et second groupes de plusieurs convertisseurs continu continu 45 et 46, qui y sont connectés.  The energy management and conversion device 39 also comprises rectified current measurement devices 53 and 54, respectively connected to the output of the positive and negative branches of the continuous AC three-phase rectifier 44, via respective power cables 214 and 215 which are extended respectively to the first and second groups of several continuous DC converters 45 and 46, which are connected thereto.
Le dispositif de gestion et de conversion d'énergie 39 comporte également des dispositifs de mesure de tension redressée 51 et 52, connectés aux des branches positive et négative du redresseur triphasé alternatif continu 44 via des des piquages 212 et 213 réalisés sur les câbles de puissance respectifs 214 et 215.  The energy management and conversion device 39 also comprises rectified voltage measuring devices 51 and 52, connected to the positive and negative branches of the continuous AC three-phase rectifier 44 via taps 212 and 213 made on the power cables. 214 and 215 respectively.
On notera que chacun des dispositifs de mesure de tension et de courant redressé 51 à 54 est connecté, via des câbles analogiques 410, à l'unité de contrôle et de commande 47.  It will be noted that each of the voltage and rectified current measurement devices 51 to 54 is connected, via analog cables 410, to the control and control unit 47.
Le premier groupe de plusieurs convertisseurs continu continu 45 est connecté, en sortie, au câble de commande 206 pour l'alimentation de la machine électrique tournante 16 et du dispositif calculateur de vol 40.  The first group of several continuous DC converters 45 is connected, at the output, to the control cable 206 for powering the rotating electrical machine 16 and the flight calculator device 40.
Le second groupe de plusieurs convertisseurs continu continu 46 est également connecté, en sortie, au câble de commande 206 par un câble de commande 217 piqué (en un point de dérivation) sur ce câble de commande 206.  The second group of several continuous DC converters 46 is also connected, at the output, to the control cable 206 by a control cable 217 stitched (at a tap point) on this control cable 206.
Le dispositif de gestion et de conversion d'énergie 39 comporte également des dispositifs de mesure de tension régulée (ou abaissée) 55 et 56, qui sont connectés en sortie des premier et second groupes de plusieurs convertisseurs continu continu 45 et 46, respectivement via le câble de commande 206 et via un câble de commande 218 piqué (en un point de dérivation) sur le câble de commande 217.  The energy management and conversion device 39 also comprises regulated (or lowered) voltage measuring devices 55 and 56, which are connected at the output of the first and second groups of several continuous DC converters 45 and 46, respectively via the control cable 206 and via a control cable 218 stitched (at a tap) on the control cable 217.
On notera que l'unité de contrôle et de commande 47 est ici connectée, via des câbles analogiques 41 1 , en entrée des premier et second groupes de plusieurs convertisseurs continu continu 45 et 46, notamment pour gérer la charge/décharge de la batterie tampon 42 ; que cette unité de contrôle et de commande 47 est également connectée, via un câble de commande 216, en sortie des premier et second groupes de plusieurs convertisseurs continu continu 45 et 46, notamment pour gérer la commande marche/arrêt de l'appareil 10 ; et que cette unité de contrôle et de commande 47 est aussi connectée, via un câble analogique 219, en sortie des dispositifs de mesure de tension régulée 55 et 56. It will be noted that the control and control unit 47 is here connected, via analog cables 41 1, at the input of the first and second groups of several continuous DC converters 45 and 46, in particular for managing the charging / discharging of the buffer battery 42; that this control and control unit 47 is also connected, via a control cable 216, at the output of the first and second groups of several continuous DC converters 45 and 46, in particular to manage the on / off control of the apparatus 10; and that this control and control unit 47 is also connected, via an analog cable 219, at the output of the regulated voltage measuring devices 55 and 56.
Dans des variantes non illustrées :  In non-illustrated variants:
- le véhicule n'est pas un pickup et le châssis du système de maintien est monté sur le toit du véhicule ;  the vehicle is not a pickup and the frame of the holding system is mounted on the roof of the vehicle;
- le châssis du système de maintien est directement formé par la caisse du véhicule par exemple pickup ;  - The frame of the holding system is directly formed by the vehicle body for example pickup;
- l'appareil téléopéré n'est pas aérien mais plutôt marin ou sous- marin et le véhicule n'est pas un véhicule terrestre mais est adapté au type d'appareil téléopéré ;  - the teleoperated device is not airborne but rather marine or submarine and the vehicle is not a land vehicle but is adapted to the type of teleoperated device;
- l'appareil présente plusieurs machines électriques tournantes ; - the device has several rotating electrical machines;
- l'appareil présente plus ou moins d'électronique embarquée que les éléments notamment systémiques mentionnés plus haut ; - The device has more or less embedded electronics that the particular systemic elements mentioned above;
- les premier et second groupes de convertisseurs sont pourvus chacun de plus de trois ou moins de trois convertisseurs ;  the first and second groups of converters are each provided with more than three or less than three converters;
- l'appareil présente plus de deux jeux de pales ;  - the device has more than two sets of blades;
- la paroi latérale n'est pas cylindrique mais plutôt semi-cylindrique ou présente une autre forme ;  the lateral wall is not cylindrical but rather semi-cylindrical or has another shape;
- la plateforme est fixe et la paroi latérale est mobile par rapport à la plateforme, et en particulier la paroi latérale est par exemple mobile par basculement ou déplacée par un bras de levier ; et/ou  - The platform is fixed and the side wall is movable relative to the platform, and in particular the side wall is for example movable by tilting or moved by a lever arm; and or
- la plateforme et la paroi latérale sont toutes deux mobiles l'une par rapport à l'autre.  the platform and the lateral wall are both movable relative to one another.
On rappelle plus généralement que l'invention ne se limite pas aux exemples décrits et représentés.  It is recalled more generally that the invention is not limited to the examples described and shown.

Claims

REVENDICATIONS
1 . Système d'alimentation électrique d'un appareil téléopéré captif (10), comportant une source d'alimentation électrique (21 ) configurée pour fournir une énergie électrique, et un câble électrique (20) connecté électriquement à ladite source d'alimentation électrique (21 ) et configuré pour acheminer ladite énergie électrique jusqu'audit appareil téléopéré captif (10) pour alimenter au moins une machine électrique tournante (16) et/ou des éléments systémiques embarqués dans ledit appareil téléopéré captif (40) ; caractérisé en ce que ladite source d'alimentation électrique (21 ) est configurée pour fournir une haute tension alternative triphasée, ledit câble électrique (20) est configuré pour faire cheminer ladite haute tension alternative triphasée et ledit système comporte en outre un dispositif de gestion et de conversion d'énergie (39) embarqué dans ledit appareil téléopéré captif (10) et configuré pour redresser ladite haute tension alternative triphasée reçue en une haute tension continue et pour abaisser ladite haute tension continue en basse tension continue. 1. Power supply system for a captive remotely operated device (10), comprising an electrical power source (21) configured to provide electrical energy, and an electrical cable (20) electrically connected to said electrical power source (21 ) and configured to route said electrical energy to said captive remotely operated device (10) to power at least one rotating electrical machine (16) and/or systemic elements embedded in said captive remotely operated device (40); characterized in that said electrical power source (21) is configured to supply a high three-phase alternating voltage, said electrical cable (20) is configured to carry said high three-phase alternating voltage and said system further comprises a management device and energy conversion device (39) embedded in said captive remotely operated device (10) and configured to rectify said received three-phase high alternating voltage into a high direct voltage and to lower said high direct voltage to low direct voltage.
2. Système selon la revendication 1 , caractérisé en ce que ladite source d'alimentation électrique (21 ) est configurée pour fournir une haute tension alternative triphasée ayant une valeur comprise entre environ 350 V et environ 700 V et ledit dispositif de gestion et de conversion d'énergie (39) est configuré pour redresser ladite haute tension alternative triphasée reçue en une haute tension continue ayant une valeur comprise entre environ +/-300 V et environ +/- 600 V, et pour abaisser ladite haute tension continue en basse tension continue ayant une valeur comprise entre environ 30 V et environ 70 V. 2. System according to claim 1, characterized in that said electrical power source (21) is configured to provide a high three-phase alternating voltage having a value between approximately 350 V and approximately 700 V and said management and conversion device energy source (39) is configured to rectify said received three-phase alternating high voltage into a direct high voltage having a value between approximately +/-300 V and approximately +/- 600 V, and to lower said direct high voltage to low voltage DC having a value between approximately 30 V and approximately 70 V.
3. Système selon l'une des revendications 1 et 2, caractérisé en ce que ledit câble électrique (20) comporte trois conducteurs principaux (22) isolés et formés chacun d'une pluralité de brins (24), un conducteur de neutre (25) et une tresse (30) enveloppant les conducteurs principaux et de neutre (22, 25). 3. System according to one of claims 1 and 2, characterized in that said electrical cable (20) comprises three main conductors (22) insulated and each formed of a plurality of strands (24), a neutral conductor (25 ) and a braid (30) wrapping the main and neutral conductors (22, 25).
4. Système selon la revendication 3, caractérisé en ce qu'il est en outre configuré pour émettre depuis ledit appareil téléopéré captif (10) une information représentative de puissance instantanée à fournir audit appareil et communiquer ladite information représentative de puissance à ladite source d'alimentation électrique par courant porteur en ligne via au moins un desdits conducteurs principaux (22) dudit câble électrique (20). 4. System according to claim 3, characterized in that it is further configured to transmit from said captive remotely operated device (10) information representative of instantaneous power to be supplied to said device and communicating said power representative information to said power source by line current via at least one of said main conductors (22) of said electrical cable (20).
5. Système selon l'une des revendications 3 et 4, caractérisé en ce que ledit câble électrique (20) comporte en outre une fibre optique (28) configurée pour faire transiter via ledit câble électrique des données depuis et vers ledit appareil téléopéré captif (10). 5. System according to one of claims 3 and 4, characterized in that said electrical cable (20) further comprises an optical fiber (28) configured to transmit data via said electrical cable from and to said captive remotely operated device ( 10).
6. Système selon l'une quelconque des revendications 3 à 5, caractérisé en ce que ledit câble électrique (20) comporte en outre une âme centrale (29) configurée pour assurer une fonction mécanique de retenue dudit appareil téléopéré captif (10). 6. System according to any one of claims 3 to 5, characterized in that said electrical cable (20) further comprises a central core (29) configured to ensure a mechanical retaining function of said captive remotely operated device (10).
7. Système selon l'une quelconque des revendications 1 à 6, caractérisé en ce que ledit câble électrique (20) présente une longueur supérieure à 50 m et inférieure à environ 200 m et ledit système comporte un touret (31 ) configuré pour dérouler et enrouler ledit câble électrique. 7. System according to any one of claims 1 to 6, characterized in that said electrical cable (20) has a length greater than 50 m and less than approximately 200 m and said system comprises a reel (31) configured to unwind and winding said electric cable.
8. Système selon l'une quelconque des revendications 1 à 7, caractérisé en ce que ledit dispositif de gestion et de conversion d'énergie (39) comporte un redresseur triphasé alternatif continu (44) configuré pour convertir ladite haute tension alternative triphasée en haute tension continue, un premier groupe de plusieurs convertisseurs continu continu (45), connecté à une branche positive de sortie dudit redresseur triphasé alternatif continu (44) et configuré pour réguler ladite haute tension continue en basse tension continue, ainsi qu'un second groupe de plusieurs convertisseurs continu continu (46), connecté à une branche négative de sortie dudit redresseur triphasé alternatif continu (44) et configuré pour réguler également ladite haute tension continue en basse tension continue. 8. System according to any one of claims 1 to 7, characterized in that said energy management and conversion device (39) comprises a three-phase continuous alternating rectifier (44) configured to convert said three-phase high alternating voltage into high DC voltage, a first group of several DC DC converters (45), connected to a positive output branch of said DC three-phase AC rectifier (44) and configured to regulate said high DC voltage into low DC voltage, as well as a second group of several direct current converters (46), connected to a negative output branch of said direct alternating three-phase rectifier (44) and configured to also regulate said high direct voltage into low direct voltage.
9. Système selon la revendication 8, caractérisé en ce que ledit dispositif de gestion et de conversion d'énergie (39) comporte en outre une unité de contrôle et de commande (47) configurée pour commander ledit redresseur triphasé alternatif continu (44) et lesdits premier et second groupes de plusieurs convertisseurs continu continu (45, 46) en fonction de la puissance instantanée nécessaire audit appareil (10). 9. System according to claim 8, characterized in that said energy management and conversion device (39) further comprises a monitoring and control unit (47) configured to control said continuous alternating three-phase rectifier (44) and said first and second groups of several DC converters (45, 46) depending on the instantaneous power required by said device (10).
10. Système selon la revendication 9, caractérisé en ce que ledit dispositif de gestion et de conversion d'énergie (39) comporte en outre une pluralité de capteurs (51 -56) configurés pour mesurer la tension et/ou le courant en sortie dudit redresseur triphasé alternatif continu (44) et/ou en sortie desdits premier et second groupes de plusieurs convertisseurs continu continu (45, 46), lesdits capteurs (51 -56) étant commandés par ladites unité de contrôle et de commande (47). 10. System according to claim 9, characterized in that said energy management and conversion device (39) further comprises a plurality of sensors (51 -56) configured to measure the voltage and/or current at the output of said three-phase continuous alternating rectifier (44) and/or at the output of said first and second groups of several continuous direct current converters (45, 46), said sensors (51 -56) being controlled by said monitoring and control unit (47).
1 1 . Système selon la revendication 3, caractérisé en ce que ledit dispositif de gestion et de conversion d'énergie (39) comporte en outre un contrôleur d'isolement (50) dudit conducteur de neutre (25). 1 1 . System according to claim 3, characterized in that said energy management and conversion device (39) further comprises an insulation controller (50) of said neutral conductor (25).
12. Système selon l'une quelconque des revendications 1 à 1 1 , caractérisé en ce qu'il comporte en outre une unité de stockage d'énergie tampon (42) connecté électriquement audit dispositif de gestion et de conversion d'énergie (39) et configuré pour alimenter, en parallèle, ladite au moins une machine électrique tournante (16) et/ou lesdits éléments systémiques embarqués (40) dans ledit appareil téléopéré captif (10). 12. System according to any one of claims 1 to 1 1, characterized in that it further comprises a buffer energy storage unit (42) electrically connected to said energy management and conversion device (39) and configured to power, in parallel, said at least one rotating electrical machine (16) and/or said embedded systemic elements (40) in said captive remotely operated device (10).
13. Système selon l'une quelconque des revendications 1 à 12, caractérisé en ce que ladite source d'alimentation électrique (21 ) est formée par un groupe électrogène diesel présentant une puissance nominale d'environ 6,5 kVA et ayant un conducteur de neutre isolé de la terre. 13. System according to any one of claims 1 to 12, characterized in that said electrical power source (21) is formed by a diesel generator having a nominal power of approximately 6.5 kVA and having a conductor of neutral isolated from earth.
PCT/FR2017/051455 2016-06-10 2017-06-09 System for supplying power to a captive remote-operated device WO2017212181A1 (en)

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FR1655400A FR3052364B1 (en) 2016-06-10 2016-06-10 ELECTRICAL POWER SUPPLY SYSTEM OF A CAPTIVE TELEOPERED APPARATUS

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