CN111262322A - Unmanned aerial vehicle electrical system and control method - Google Patents
Unmanned aerial vehicle electrical system and control method Download PDFInfo
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- CN111262322A CN111262322A CN201811467041.6A CN201811467041A CN111262322A CN 111262322 A CN111262322 A CN 111262322A CN 201811467041 A CN201811467041 A CN 201811467041A CN 111262322 A CN111262322 A CN 111262322A
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 43
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical group [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 238000009826 distribution Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000003860 storage Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other DC sources, e.g. providing buffering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
- H02J9/061—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems for DC powered loads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D2221/00—Electric power distribution systems onboard aircraft
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Aviation & Aerospace Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides an unmanned aerial vehicle electrical system and a control method, wherein the unmanned aerial vehicle electrical system comprises a generator, a power battery, an equipment battery, a power supply conversion module, a relay and a relay controller; the device battery is connected with the input end of the power conversion module through the relay I, the generator is connected with the input end of the power conversion module, the voltage output by the device battery and the generator is converted into the voltage which is not greater than the safe voltage and is needed by the device through the power conversion module and is supplied to each device for use, and the relay II is arranged between the output end of the power conversion module and the load of the unmanned aerial vehicle; power battery passes through relay three and links to each other with the equipment that service voltage is greater than safe voltage, and relay one, two, three link to each other with the relay controller and are controlled by the relay controller, solve unmanned aerial vehicle's single battery power supply, weight increase, the customization degree of difficulty that battery voltage conversion brought increase, the problem that the expense increases.
Description
Technical Field
The invention relates to the technical field of electrical design of unmanned aerial vehicles, in particular to an oil-electricity unmanned aerial vehicle electrical system framework.
Background
The electric system is one of the important systems of the unmanned aerial vehicle, and the electric system is responsible for the power supply and distribution of the whole unmanned aerial vehicle, and the design of the electric system influences the overall performance of the unmanned aerial vehicle. At present, the hybrid VTOL unmanned aerial vehicle electric energy of oil electricity comes from generator and single battery, and the distribution uses the electrical apparatus controlling means of customization, and the partial equipment power consumption voltage is 28V, 12V or littleer on the civil unmanned aerial vehicle machine, and partial equipment power consumption voltage is higher, reaches 80 ~ 100V, if provide the motor of power for the rotor. If a single battery is used for power supply, multiple DC-DC converters are required, and because of high voltage conversion, the required DC-DC conversion modules are not commercially available, the customization takes long time, the cost is high, the weight is large, and the electrical control device equipment also brings extra weight and customization period.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an unmanned aerial vehicle electrical system, which solves the problems of weight increase, customization difficulty increase and cost increase caused by the power supply of a single battery and the voltage conversion of the battery of the unmanned aerial vehicle.
The technical solution of the invention is as follows:
according to one aspect of the invention, an unmanned aerial vehicle electrical system is provided, comprising a generator, a power battery, a device battery, a power conversion module, three relays and a relay controller; the device battery is connected with the input end of the power conversion module through the relay I, the generator is connected with the input end of the power conversion module, the voltage output by the device battery and the generator is converted into the voltage which is not greater than the safe voltage and is needed by the device through the power conversion module and is supplied to each device for use, and the relay II is arranged between the output end of the power conversion module and the load of the unmanned aerial vehicle; the power battery is connected with equipment with the use voltage larger than the safe voltage through a relay III, and the relays I, II and III are connected with a relay controller and controlled by the relay controller.
The power battery is formed by connecting n batteries in series, and the voltage after series connection meets the voltage required by equipment with the use voltage greater than the safe voltage.
The power conversion module is composed of a DC-DC module, and the DC-DC module is a low-voltage conversion module which is directly purchased.
The equipment battery is a battery for supplying power to equipment with the use voltage not greater than the safe voltage when the power of the generator is insufficient and the engine stops working, and the voltage of the equipment battery is the same as the voltage provided by the generator.
Preferably, the series battery in the power battery is a lithium battery which can be purchased directly.
Preferably, the power batteries adopt a current sharing measure when being connected in series.
Preferably, the relay controller is an autopilot.
Preferably, the device battery is a lithium battery which can be purchased directly.
According to another aspect of the invention, a control method for an electric system of an unmanned aerial vehicle is provided, which mainly comprises the following steps:
1. in the starting and takeoff stages of the unmanned aerial vehicle, the power battery supplies power to equipment with the use voltage larger than the safe voltage through a relay controlled by a relay controller, the power generator or the equipment battery and the power generator jointly supply power to the equipment with the use voltage not larger than the safe voltage, and the load does not supply power, wherein the method for jointly supplying power to the equipment battery and the power generator comprises the following steps: when the efficiency of the generator is increased, the relay controller controls a relay-control equipment battery to gradually reduce the power provided by the generator until the generator is completely powered;
2. in the cruising stage of the unmanned aerial vehicle, a power battery supplies power to equipment with the use voltage larger than the safe voltage through a relay III controlled by a relay controller, a generator supplies power to the equipment with the use voltage not larger than the safe voltage through a power supply conversion module, the generator supplies power to a load after being connected with a relay II through the output end of the power supply conversion module, and the relay II is controlled by the relay controller;
3. unmanned aerial vehicle descends the stage, and relay controller control relay three cuts off the power supply that the service voltage is greater than the equipment of safe voltage, and relay controller control relay one cuts off the load power supply, and equipment battery or equipment battery and generator jointly begin the power supply for the equipment that service voltage is not greater than safe voltage, equipment battery and generator jointly supply power the method do: when the efficiency of the generator is reduced, the equipment battery fills the vacancy of the power of the generator until the power is completely supplied by the equipment battery;
4. if the relay controller detects that the generator supplies power and goes wrong, all have the equipment battery to supply power for the equipment that service voltage is not more than safe voltage at the overall process of unmanned aerial vehicle work.
Furthermore, the power battery is a high-voltage battery, and the voltage can meet the requirement of the electric equipment without boosting.
Preferably, the power conversion module adopts a DC-DC module for conversion, and the adopted DC-DC module is a low voltage conversion module purchased directly.
By applying the technical scheme of the invention, the following beneficial effects can be realized:
1. the device is powered by the high-voltage power battery, and the generator and the device battery jointly supply power to the device which is not more than the safe voltage, so that voltage conversion is needed only when the generator and the device battery supply power to the device which is not more than the safe voltage, only one-stage DC-DC or two-stage DC-DC conversion is needed, but the DC-DC is low in weight because the voltage and the power which need to be converted are small, and can be purchased in the market, and the problems of large weight, long customization time and high customization cost of the DC-DC for battery voltage conversion in the prior art are solved.
2. The invention controls the circuit of the power supply through the relay and the relay controller, simplifies the circuit control, lightens the weight of the unmanned aerial vehicle and reduces the manufacturing cost of the unmanned aerial vehicle.
3. According to the invention, the relay controller is used for controlling the relay to control the equipment battery and the generator, so that the redundancy of the electric propulsion system is realized when the generator fails, and the unmanned aerial vehicle can work normally.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Figure 1 shows a schematic diagram of a drone electrical system architecture;
figure 2 shows an embodiment of an electromechanical system architecture schematic.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Embodiment 1, as shown in fig. 1, the invention provides an unmanned aerial vehicle electrical system, which includes a generator, a power battery, an equipment battery, a power conversion module, a relay and a relay controller.
In this embodiment, a 50 Kg-level hybrid unmanned aerial vehicle is taken as an example, as shown in fig. 2, onboard electric equipment is divided into a rotor power motor and onboard other electric equipment, wherein the voltage used by the rotor power motor is 88V, the voltages used by the onboard other electric equipment are respectively 28V, 12V and 5V, the power battery is formed by connecting four common batteries in the market, namely 22.2V, 10Ah and 25C, in series, the equipment battery is formed by selecting common batteries in the market, namely 6S, 5.3Ah and 25C, the power conversion module is a DC-DC conversion module purchased in the market, and the voltages of the equipment battery and a generator are converted into 12V and 5V by conversion, so as to meet the requirements of the onboard other electric equipment; the relay is a commonly used relay in the market, and an automatic pilot is used as a relay controller; the generator can be selected from a model which is matched with the engine and meets the requirement of output power.
The device battery is connected with the power conversion module through the relay, the generator is connected with the power conversion module, voltages of 28V, 12V and 5V are obtained through the power conversion module and are respectively supplied to the onboard devices, wherein the 28V voltage is supplied to a load through the relay and is used for onboard measurement and control, the 12V voltage is supplied to the automatic pilot and is used for equipment such as a servo motor, and the 5V voltage is supplied to the servo motor.
Power battery passes through the relay and links to each other with engine motor, and power battery takes the measure of flow equalizing when establishing ties, chooses the battery of the same model of same producer for use to establish ties to choose the biggest wire gauge cable connection battery of adaptation battery for use, reduce the too big pressure drop that produces of resistance that the wire gauge mismatch brought, influence the discharge equilibrium of battery cell. Before each flight task and after the completion task, the battery detector is used for detecting the voltage difference, the resistance difference and the capacity difference of the battery core, and when the difference is overlarge, the battery is replaced in time, so that the service life of the battery is guaranteed. The storage process can be disassembled for independent storage at ordinary times, and the safety is improved.
The automatic pilot is connected to each relay as a relay controller, and switches of the relays are controlled according to power supply time required by each device.
Taking a 50 Kg-grade oil-electricity hybrid power unmanned aerial vehicle as an example, the prior art of an unmanned aerial vehicle electrical system is compared with the invention: the equipment battery needs to supply 4Ah for equipment on the aircraft except the rotor wing power motor, the electricity voltage of the equipment is respectively 28V, 12V and 5V, the discharge current is less than 10A, the rotor wing power motor needs 88V of battery voltage, 8Ah for power supply, and the normal 90A peak value 140A of the discharge current. In the prior art, a battery is selected to supply power to all electric equipment, a voltage of a 6S battery is a common voltage in the market when the voltage is 21.6V-25.2V, and the capacity of a power utilization end is at least 12Ah for providing the minimum voltage value for the conversion times of a rotor wing power motor, a two-stage DC-DC module is required to supply power to the rotor wing power motor at the moment, because the power of low electric equipment is small, the power loss caused by the DC-DC module of the low-voltage electric equipment is ignored in calculation, because the electric quantity of the battery is reduced along with the increase of the use times, the capacity loss caused by 15% of safety margin and 15% conversion is considered, the capacity at least needs to be [ (8 Ah/85%/85% +4 Ah)/85% ] ═ 17.7Ah, the 6S, 22Ah and 45C batteries are selected according to discharge current and the capacity specification in the market, the weight is 2.55KG, but the scheme has very high requirement on the, the power is more than 10000W, the output current is required to be large, the unmanned aerial vehicle is customized for non-market products, the price is high, the weight is high, the size is large, and the control of the total weight and the size of the unmanned aerial vehicle is influenced; the power distribution uses a customized electrical appliance control device, the weight is large, and the time and the cost required by customization are higher.
By adopting the unmanned aerial vehicle electrical system, the equipment battery only needs to select the common 6S, 5.3Ah and 25C battery in the market, the weight is 0.79Kg, the voltage is reduced by the first-stage DC-DC module to obtain 12V voltage, and the voltage is reduced by the second-stage DC-DC module to obtain 5V voltage. Four common batteries of 22.2V, 10Ah and 25C in the market are selected and connected in series for the power battery, and an additional DC-DC module is not needed after a current equalizing measure is added, so that the price is reduced, and the development period is shortened; relay and autopilot are used in the distribution, and the relay is standard fittings, can directly purchase, and its weight, expense are all very low, are favorable to reducing unmanned aerial vehicle's weight and price.
Embodiment 2 and this embodiment take a 50Kg grade hybrid power unmanned aerial vehicle,
1. in the starting and takeoff phases of the unmanned aerial vehicle, a power battery supplies power to a power engine with the use voltage of 88V through a relay III controlled by an automatic pilot, a generator or a device battery and the generator are combined to supply power to devices with the use voltages of 28V, 12V and 5V, and the load is not supplied with power, wherein the method for supplying power by combining the device battery and the generator comprises the following steps: when the efficiency of the generator is increased, the battery of the automatic pilot control relay-control equipment is gradually reduced to supplement the power provided by the generator until the generator is completely powered;
2. in the cruising stage of the unmanned aerial vehicle, a power battery supplies power to a power engine through a relay III controlled by an automatic pilot, a generator supplies power to equipment with the use voltages of 28V, 12V and 5V through a power supply conversion module, the generator supplies power to a load after being connected with a relay II through the output end of the power supply conversion module, and the relay II is controlled by the automatic pilot;
3. in the landing stage of the unmanned aerial vehicle, the third automatic pilot control relay cuts off the power supply of the power engine, the first automatic pilot control relay cuts off the power supply of a load, an equipment battery or an equipment battery and a generator jointly supply power to equipment with the use voltages of 28V, 12V and 5V, and the method for jointly supplying power to the equipment battery and the generator comprises the following steps: when the efficiency of the generator is reduced, the equipment battery fills the vacancy of the power of the generator until the power is completely supplied by the equipment battery.
4. If the relay controller detects that the power supply of the generator is in problem, the battery of the equipment supplies power to the equipment with the use voltages of 28V, 12V and 5V in the whole working process of the unmanned aerial vehicle.
Further, in one embodiment, four common batteries of 22.2V, 10Ah and 25C in the market are selected for the power battery to be connected in series, and the requirement of the electric equipment can be met without boosting voltage of an additional DC-DC module after a current sharing measure is added.
The battery of the equipment battery equipment only needs to select common batteries with 6S, 5.3Ah and 25C in the market, the weight is 0.79Kg, the generator is an applicable generator, the voltage is reduced by a first-stage DC-DC module to obtain 12V voltage, and the voltage is reduced by a second-stage DC-DC module to obtain 5V voltage.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An unmanned aerial vehicle electrical system comprises a generator, a power supply conversion module and is characterized by further comprising an equipment battery, a power battery, a relay and a relay controller, wherein the equipment battery is connected with the input end of the power supply conversion module through a first relay; the power battery is connected with equipment with the use voltage larger than the safe voltage through a relay III, and the relays I, II and III are connected with a relay controller and controlled by the relay controller.
2. The unmanned aerial vehicle electrical system of claim 1, wherein the voltage conversion is performed by a DC-DC module, and the DC-DC module is a low voltage conversion module.
3. The unmanned aerial vehicle electrical system of claim 1, wherein the power battery is formed by connecting n batteries in series, and the voltage after series connection meets the voltage required by equipment with the use voltage greater than the safe voltage.
4. The unmanned aerial vehicle electrical system of claim 3, wherein the series battery in the power battery is a lithium battery, and the equipment battery is a lithium battery.
5. The unmanned aerial vehicle electrical system of claim 1, wherein the device battery is a battery for supplying power to devices with a voltage not greater than a safe voltage when the power of the generator is insufficient and the generator is not in operation, and the voltage of the battery is the same as the voltage provided by the generator.
6. A control method using the electrical system of the unmanned aerial vehicle of claim 1, characterized in that: the steps are as follows,
s1, during the starting and takeoff phases of the unmanned aerial vehicle, the power battery supplies power to equipment with the use voltage larger than the safe voltage through a relay III controlled by a relay controller, the power generator or the equipment battery and the power generator jointly supply power to the equipment with the use voltage not larger than the safe voltage, the load does not supply power, and the method for jointly supplying power to the equipment battery and the power generator comprises the following steps: when the efficiency of the generator is increased, the relay controller controls a relay-control equipment battery to gradually reduce the power provided by the generator until the generator is completely powered;
s2, in the cruising stage of the unmanned aerial vehicle, a power battery supplies power to equipment with the use voltage larger than the safe voltage through a relay III controlled by a relay controller, a generator supplies power to equipment with the use voltage not larger than the safe voltage through a power supply conversion module, the generator supplies power to a load after being connected with a relay II through the output end of the power supply conversion module, and the relay II is controlled by the relay controller;
s3, unmanned aerial vehicle landing stage, the relay controller controls the relay to cut off the power supply of the equipment with the use voltage larger than the safe voltage, the relay controller controls the relay to cut off the power supply of the load, the equipment battery or the equipment battery and the generator jointly supply power to the equipment with the use voltage not larger than the safe voltage, and the method for jointly supplying power to the equipment battery and the generator comprises the following steps: when the efficiency of the generator is reduced, the equipment battery fills the vacancy of the power of the generator until the power is completely supplied by the equipment battery;
s4, if the relay controller detects that the power supply of the generator has problems, the battery of the equipment supplies power for the equipment with the use voltage not greater than the safe voltage in the whole working process of the unmanned aerial vehicle.
7. The method as claimed in claim 6, wherein the power battery is a high voltage battery, and the voltage of the battery can meet the requirement of the electric equipment without boosting.
8. The method of claim 6, wherein the voltage conversion is performed by a DC-DC module, and the DC-DC module is a low voltage conversion module.
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