WO2018045848A1 - Feedback control method and device for power supply of multi-rotor manned aircraft - Google Patents

Abstract

A feedback control method and device for power supply of a multi-rotor manned aircraft. The method comprises: obtaining battery information of each group of battery units in a power supply system, the power supply system comprising at least two groups of battery units that are connected in parallel (S1); separately determining whether an exception occurs in each group of battery units according to the battery information (S2); and controlling, if an exception occurs in any group of battery units, the group of battery units to be disconnected from the power supply system (S3). According to the feedback control method and device for power supply of a multi-rotor manned aircraft, each battery in a power supply system of a multi-rotor manned aircraft can be flexibly controlled, and the aircraft is prevented from losing power due to fault of a battery.

Description

 Feedback control method and device for multi-rotor manned aircraft power supply

 [0001] The present invention relates to the field of power supply technologies, and in particular, to a feedback control method and apparatus for a power supply of a multi-rotor manned aircraft.

 Background technique

 [0002] Existing electric vehicles usually provide power through a battery, or a group of batteries (consisting of several batteries through parallel and series connection). When any one of the batteries fails (such as a short circuit), the entire battery will stop the power supply. The output makes the entire aircraft lose power and cannot fly normally. For fixed-wing aircraft, forced landing can be achieved by gliding, but for multi-rotor aircraft, it will mean extreme danger.

 technical problem

 Based on this, the present invention provides a feedback control method and apparatus for a multi-rotor manned aircraft power supply, which can realize flexible control of each battery in a multi-rotor manned aircraft power system.

 Problem solution

 Technical solution

 [0004] An aspect of the present invention provides a feedback control method for a multi-rotor manned aircraft power supply, including:

 Obtaining battery information of each group of battery cells in the power system, the power system includes at least two groups of battery cells, and the at least two groups of battery cells are connected in parallel;

[0006] determining, according to the battery information, whether each group of battery cells is abnormal;

[0007] If an abnormality occurs in any one of the battery cells, the battery unit of the group is controlled to be interrupted from the power supply system.

[0008] The present invention also provides a feedback control device for a multi-rotor manned aircraft power supply, comprising:

[0009] a detecting module, configured to obtain battery information of each group of battery units in the power system, the power system includes at least two groups of battery units, and the at least two groups of battery units are connected in parallel;

[0010] a determining module, configured to determine, according to the battery information, whether each group of battery cells is abnormal; [0011] a control module, configured to control the group of battery cells from the power system if an abnormality occurs in any group of battery cells Interrupted. Advantageous effects of the invention

 Beneficial effect

 [0012] The feedback control method of the multi-rotor manned aircraft power supply of the above technical solution controls the battery of the group from being interrupted by the power system by separately monitoring each group of battery cells connected in parallel in the power system, and any group of battery cells are abnormally 吋Unit, the other battery unit continues to output power to the aircraft, avoiding the aircraft losing power due to a battery failure, and ensuring the flight safety of the multi-rotor manned aircraft.

 Brief description of the drawing

 DRAWINGS

 1 is a schematic structural view of a power management system of a multi-rotor manned aircraft according to a preferred embodiment; [0014] FIG. 2 is a schematic diagram of a power management system of a multi-rotor manned aircraft according to another preferred embodiment. Structure diagram

3 is a schematic flow chart of a feedback control method of a multi-rotor manned aircraft power supply according to a preferred embodiment; [0015] FIG.

 4 is a schematic structural diagram of a feedback control device of a multi-rotor manned aircraft power supply according to a preferred embodiment. [0016] FIG.

Embodiments of the invention

 The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

 1 is a schematic structural view of a power management system of a multi-rotor manned aircraft according to a preferred embodiment. Hereinafter, a power management system of the multi-rotor manned aircraft of the present invention will be described with reference to FIG.

[0019] The power management system of the multi-rotor manned aircraft of the embodiment includes a flight control unit FCU connected to the whole bus, and further includes a motor governor unit, and the motor governor unit includes a plurality of motor speed adjustments. And a plurality of the motor governors are respectively connected to the power bus line; the motor governor unit is further connected to the flight control unit FCU through a CAN bus; and further includes at least two groups of battery units, the at least The two sets of battery cells are connected in parallel. The at least two sets of battery cells are used to provide the motor governor unit The power source, the at least two groups of battery cells are respectively connected in parallel on the power bus. The battery management unit BMS is further connected to the at least two groups of battery units via a CAN bus, and the other end of the battery management unit BMS is connected to the whole bus.

 [0020] Preferably, in the power management system of the multi-rotor manned aircraft of the embodiment, the number of the battery units is eight groups. As shown in FIG. 1, the power management system includes eight battery units (BMU1~BMU8), and eight battery units are connected to the power supply bus of the aircraft. When the battery of any one of the battery units fails, the corresponding battery can be controlled to interrupt the entire battery system by the corresponding relay, that is, the battery unit is disconnected from the power supply bus; thereafter, other battery units can be Continue to output power to power the aircraft, thus preventing the aircraft from flying properly due to a battery failure.

 [0021] Further, each group of battery cells includes a battery BAT, a fuse for overcurrent protection, and a relay for the battery unit to abnormally control the battery unit to be disconnected. Each set of battery cells may also include a current sensor for detecting the set of battery cell currents, preferably a Hall current sensor. Specifically, as shown in FIG. 2, in the first group of battery cells, the positive output line of the battery BAT1 passes through the fuse F1 and then passes through the middle hole of the Hall current sensor HI and is connected to the first contact of the relay K1, thereby the Hall The current sensor HI can detect the battery current of the group, and the second contact of the relay K1 is connected to the negative output of the battery unit, and the first contact and the second contact form a set of connection contacts.

 [0022] As a preferred embodiment, the relay may be selected as a movable type relay; the working 吋 relay coil is energized, the first contact and the second contact are closed; the battery unit is abnormal, the relay coil is powered off, and the first contact is The second contact is broken.

 [0023] As another preferred embodiment, the relay may also select a dynamic breaking type relay; the working 吋 relay coil is powered off, the first contact and the second contact are closed; the battery unit is abnormal, the relay coil is energized, the first touch The point is broken with the second contact.

[0024] Further, as shown in FIG. 2, each battery unit further includes a battery detecting unit BCU (BATTERY CHECK UNIT) for detecting the voltage, current and temperature of the battery of the battery unit of the group, and passing the battery detecting unit BCU. Controls the relay of the battery unit of the group to be turned on and off. For example: When the battery detection unit BCU1 of the BMU1 detects that the voltage of the battery BAT1 of the battery unit exceeds the normal voltage range (not higher than 90V), or detects that the battery BAT1 temperature of the battery unit exceeds the normal temperature range (not high) At 60 degrees Celsius, 可, you can control the relay K1 in the battery unit to break, so that the battery unit The power supply busbar of the aircraft is broken, and the battery is protected from over-discharge or over-charging.

 [0025] Further, the aircraft power management system of the present invention further includes a battery management unit BMS, and the battery detection unit BCU of each group of battery cells is connected to the battery management unit BMS via a CAN bus. At the same time, the battery management unit BMS is also connected to the whole bus via the CAN bus. The battery management unit BMS counts the information of each group of battery units and sends them to the whole bus, so that other devices in the aircraft system can be adjusted according to the power supply. Specifically, the battery detecting unit BCU sends the detected voltage, temperature, current and the like information of the battery to the battery management unit BMS through the CAN bus 1 software communication mode, and the battery management unit BMS collects statistics of each group of battery units. After the information, the complete battery information of all the battery units is sent to the whole bus through the CA N bus 2 software communication mode, so that other devices in the system can obtain the power, voltage, temperature and other information of the current power battery.

 Specifically, as shown in FIG. 1, the power management system includes eight battery units (BMU1~BMU8), and eight battery units are connected to the battery management unit BMS through the CAN IV physical bus, and the battery management unit BMS is further Access to the entire bus via the CAN I physical bus. Also, assume that each battery unit has the same status in the power management system. Based on the power management system shown in Figure 1, even if four of the battery units have a battery failure, the power output of the other four battery units can ensure safe landing of the aircraft.

 [0027] Further, FIG. 2 is a schematic structural diagram of a power management system of a multi-rotor manned aircraft according to another preferred embodiment; the power management system also includes eight battery cells (the battery cells of each group are similar in structure, FIG. 2 Only one of them is shown in the middle, and the eight battery units correspond to the battery detecting units BCU1 to BCU8, respectively. The battery detection unit BCU1~BCU8 reports the voltage, current and temperature information of the respective detected batteries to the battery management unit BMS via the CAN bus.

 [0028] With the power management system of the multi-rotor manned aircraft of the above embodiment of the present invention, by increasing the redundancy of the electric vehicle power supply, the plurality of battery units are set to be powered in parallel, and when a certain battery unit fails, the control is performed. The battery unit is disconnected, and the other battery units continue to output power to the aircraft, preventing the aircraft from losing power due to a battery failure, and ensuring the flight safety of the multi-rotor manned aircraft.

[0029] It should be noted that, in the above embodiments, only parts related to the embodiment are shown, and those skilled in the art can understand that the power management system structure shown in FIG. 1 and FIG. 2 does not constitute the present invention. Limits, may include more or less devices than shown, or combine some devices, or have different devices Location layout.

 [0030] Further, the present invention also provides an embodiment of a feedback control method for a multi-rotor manned aircraft power supply.

 As shown in FIG. 3, in this embodiment, the feedback control method of the power supply includes the following steps S1~S3, which are as follows:

[0031] Sl, obtaining battery information of each group of battery cells in the power system, the power system includes at least two groups of battery cells, and the at least two groups of battery cells are connected in parallel;

 [0032] The structure of the power supply system can be referred to the foregoing embodiment. Based on the power system structure, the specific implementation manner of the step may be: periodic battery detection unit from each group of battery cells by the battery management unit. Obtaining battery information, the battery detecting unit detects battery information of a battery unit in which it is located. As a preferred embodiment, based on the power system structure described above, the power system includes 8 sets of battery cells connected in parallel, corresponding to 8 battery detecting units; the battery detecting unit of each group of battery cells is periodically communicated through the CAN bus 1 software. Send the battery information it detects to the battery management unit.

 [0033] As a preferred embodiment, the battery information in this embodiment refers to one or more of voltage, current, and temperature. Correspondingly, the battery detecting unit can detect the voltage and current of the battery unit in which it is located. One or more of the temperatures. It is to be understood that the specific structure of the battery detecting unit includes, but is not limited to, the structure described in the above embodiment of the power supply system.

 [0034] S2, determining, according to the battery information, whether each group of battery cells is abnormal;

 [0035] As a preferred embodiment, the specific implementation of the step includes: determining whether the voltage of each group of battery cells exceeds a set voltage range, whether the current exceeds a set current range, and/or whether the temperature exceeds a set temperature. Range, if any of the judgments is yes, it is determined that the battery unit of the group is abnormal. For example: When the battery detection unit (BCU1~BCU8) detects that the voltage of the battery unit exceeds the normal voltage range (not higher than 90V), or detects that the temperature of the battery unit exceeds the normal temperature range (not higher than 60 degrees Celsius)吋, can control the relay break in the battery unit of the group, so that the battery unit of the group and the power supply bus of the aircraft are broken, and the battery is protected from over-discharge or over-charge.

 [0036] S3. If an abnormality occurs in any one of the battery units, the battery unit of the group is controlled to be interrupted from the power system.

[0037] As a preferred embodiment, based on the power system structure described above, if any one of the battery cells is abnormal, the battery management unit sends a break signal to the corresponding battery detecting unit, and the battery detecting unit receives the disconnection幵 signal, and control the relay break of the battery unit in which it is located, so that the battery pack The element is interrupted from the power system.

 [0038] As a preferred embodiment, after the battery management unit acquires the battery information of each group of battery units in the power system, the battery management unit completes the complete battery unit through the CAN bus 2 software communication method. The battery information is sent to the whole machine bus, and the complete battery information of all the battery units is sent to other equipment units in the multi-rotor manned aircraft system through the whole machine bus, so that other devices in the system can obtain the power of the current power battery, Information such as voltage and temperature is convenient for other equipment in the aircraft system to be adjusted according to the current power supply conditions to ensure flight safety.

 [0039] According to the feedback control method of the multi-rotor manned aircraft power supply of the above embodiment of the present invention, by separately monitoring each group of battery cells connected in parallel in the power system, and any group of battery cells is abnormally 吋, the battery is controlled to be broken. Unit, the other battery unit continues to output power to the aircraft, avoiding the aircraft losing power due to a battery failure, and ensuring the flight safety of the multi-rotor manned aircraft.

 [0040] An apparatus embodiment of a feedback control method that can be used to perform the multi-rotor manned aircraft power supply described above is described below. For the convenience of description, in the structural schematic diagram of the embodiment of the feedback control device of the multi-rotor manned aircraft power supply, only the parts related to the embodiment are shown, and those skilled in the art can understand that the device structure shown in the figure does not constitute a pair. The definition of the device may include more or fewer components than those illustrated, or some components may be combined, or different component arrangements.

 [0041] FIG. 4 is a schematic structural diagram of a feedback control device for a power supply of a multi-rotor manned aircraft according to the present embodiment. As shown in FIG. 4, the feedback control device of the multi-rotor manned aircraft power supply of the present embodiment includes: a detection module. 51 0, the judgment module 520 and the control module 530, each module is as follows:

 [0042] The detecting module 510 is configured to obtain battery information of each group of battery units in the power system, where the power system includes at least two groups of battery units, and the at least two groups of battery units are connected in parallel;

 [0043] The determining module 520 is configured to determine, according to the battery information, whether an abnormality occurs in each group of battery cells;

 [0044] The control module 530 is configured to control the battery unit to be interrupted from the power system if an abnormality occurs in any one of the battery units.

[0045] As a preferred embodiment, the battery information includes voltage, current, and/or temperature. Correspondingly, the determining module 520 is specifically configured to: determine whether the voltage of each group of battery cells exceeds a set voltage range, whether the current exceeds a set current range, and/or whether the temperature exceeds a set temperature range, if Ren If the result of the determination is yes, it is determined that the battery unit of the group is abnormal.

 [0046] It should be noted that, in the embodiment of the feedback control device for the multi-rotor manned aircraft power supply of the above-described example, the information interaction, execution process, and the like between the modules are based on the same concept as the foregoing method embodiment of the present invention. The technical effects of the present invention are the same as those of the foregoing method embodiments of the present invention. For details, refer to the description in the method embodiment of the present invention, and details are not described herein again.

 [0047] In addition, in the implementation of the feedback control device of the multi-rotor manned aircraft power supply of the above-mentioned example, the logical division of each functional module is only an example, and the actual application may be as needed, for example, according to the configuration requirements of the corresponding hardware or For the convenience of implementation of the software, the above function distribution is completed by different functional modules, that is, the internal structure of the feedback control device of the multi-rotor manned aircraft power supply is divided into different functional modules to complete all or part of the functions described above. .

 [0048] In the foregoing embodiments, the descriptions of the various embodiments are different, and the details that are not detailed in an embodiment may be referred to the related descriptions of other embodiments.

 The above-described embodiments are merely illustrative of the preferred embodiments of the present invention and are not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

 Industrial applicability

 [0050] The feedback control method for the multi-rotor manned aircraft power supply of the above technical solution controls the battery cells from the power system to be interrupted by separately monitoring each group of battery cells connected in parallel in the power system, and any group of battery cells are abnormally 吋Unit, the other battery unit continues to output power to the aircraft, avoiding the aircraft losing power due to a battery failure, and ensuring the flight safety of the multi-rotor manned aircraft.

Claims

Claim A feedback control method for a multi-rotor manned aircraft power supply, including: Obtaining battery information of each group of battery cells in the power system, the power system includes at least two groups of battery cells, and the at least two groups of battery cells are connected in parallel; Determining whether each group of battery cells is abnormal according to the battery information; If any group of battery cells is abnormal, the battery cells of the group are controlled to be interrupted from the power system. A feedback control method for a multi-rotor manned aircraft power source according to claim 1, wherein The battery information includes voltage, current, and/or temperature. A feedback control method for a multi-rotor manned aircraft power source according to claim 2, wherein Determining whether each group of battery cells is abnormal according to the battery information, comprising: determining whether the voltage of each group of battery cells exceeds a set voltage range, whether the current exceeds a set current range, and/or whether the temperature exceeds a set value. Temperature range; if any of the judgments is YES, it is determined that the battery unit of the group is abnormal. The feedback control method of the multi-rotor manned aircraft power supply according to claim 1, wherein the obtaining battery information of each group of battery units in the power supply system comprises: The battery information is periodically acquired from the battery detecting unit of each group of battery cells by the battery management unit, and the battery detecting unit detects the battery information of the battery unit in which it is located. The feedback control method of the multi-rotor manned aircraft power supply according to claim 4, wherein the battery management unit periodically acquires the battery information from the battery detecting unit of each group of battery cells, including: The battery detection unit of each group of battery cells periodically transmits the battery information detected by the CAN bus 1 software communication method to the battery management unit. The feedback control method of the multi-rotor manned aircraft power supply according to claim 4, wherein if any one of the battery cells is abnormal, controlling the battery unit to be disconnected from the power system comprises: If an abnormality occurs in any one of the battery cells, the battery management unit sends a break signal to the corresponding battery detecting unit, and the battery detecting unit receives the break signal and controls the device The relay of the battery unit is broken to cause the battery unit to be interrupted from the power system. The feedback control method of the multi-rotor manned aircraft power supply according to claim 4, wherein the obtaining the battery information of each group of battery cells in the power supply system further comprises: the battery management unit communicating via the CAN bus 2 software The complete battery information of all the battery units is sent to the whole machine bus, and the complete battery information of all the battery units is sent to other equipment units in the multi-rotor manned aircraft system through the whole machine bus. A feedback control method for a multi-rotor manned aircraft power supply according to claim 4, wherein said power supply system comprises eight sets of battery cells connected in parallel. A feedback control device for a multi-rotor manned aircraft power supply, comprising: a detection module, configured to obtain battery information of each group of battery cells in the power system, the power system includes at least two groups of battery cells, the at least two groups of battery cells are connected in parallel; and the determining module is configured to separately determine, according to the battery information Whether there is an abnormality in each group of battery cells; The control module is configured to control the battery unit to be interrupted from the power system if an abnormality occurs in any one of the battery units. The feedback control device for a multi-rotor manned aircraft power supply according to claim 9, wherein the battery information comprises voltage, current and/or temperature; The determining module is configured to determine whether the voltage of each group of battery cells exceeds a set voltage range, whether the current exceeds a set current range, and/or whether the temperature exceeds a set temperature range, and if any of the determination results is yes , it is determined that the battery unit of the group is abnormal.