阅读说明：本技术 一种混联式混合动力无人机动力系统及其控制方法 (Series-parallel hybrid power unmanned aerial vehicle power system and control method thereof ) 是由 齐前锦 昌诚程 周小川 赵万忠 孙林林 黄馨谊 薛子宽 叶宇林 于 2021-01-20 设计创作，主要内容包括：本发明公开了一种混联式混合动力无人机动力系统及其控制方法,系统包含：机身、第一机翼、第二机翼、尾翼、螺旋桨、发动机、发电机、电动机、离合器、动力电池组、控制系统、传感器；本发明可实现活塞发动机单独输出动力、电动机单独输出动力、活塞发动机与电动机同时输出动力、活塞发动机输出动力的同时发电机给动力电池充电等多种工作模式,以实现无人机在不同飞行工况下的能量分配需求。与此同时,选用混联式可减小发动机与电动机功率,电池容量需求更小,降低无人机重量,也可使得无人机更适应高空飞行时的低温低氧环境。(The invention discloses a series-parallel hybrid power unmanned aerial vehicle power system and a control method thereof, wherein the system comprises: the airplane comprises a fuselage, a first wing, a second wing, a tail wing, a propeller, an engine, a generator, a motor, a clutch, a power battery pack, a control system and a sensor; the invention can realize multiple working modes of independently outputting power by the piston engine, independently outputting power by the motor, simultaneously outputting power by the piston engine and the motor, simultaneously charging a power battery by the generator when the piston engine outputs power and the like, so as to realize the energy distribution requirement of the unmanned aerial vehicle under different flight working conditions. Meanwhile, the hybrid type hybrid power system can reduce the power of an engine and a motor, the battery capacity requirement is smaller, the weight of the unmanned aerial vehicle is reduced, and the unmanned aerial vehicle can be more suitable for the low-temperature and low-oxygen environment during high-altitude flight.)

1. A series-parallel hybrid unmanned aerial vehicle power system is characterized by comprising: the airplane comprises a fuselage, a first wing, a second wing, a tail wing, a propeller, an engine, a generator, a motor, a clutch, a power battery pack, a control system and a sensor;

the first wing and the second wing are respectively arranged on two sides of the fuselage, and the engine, the generator, the motor, the clutch, the power battery pack, the control system and the sensor are all arranged in the fuselage;

the propeller is arranged at the tail part of the machine body, and a rotating shaft of the propeller is connected with the output shaft of the engine through the clutch;

the engine output shaft is also connected with the generator input shaft through a power coupler;

the sensor collects acceleration, height and air pressure signals in real time and sends the collected signals to a control system electrically connected with the sensor;

the control system is electrically connected with the sensor, the engine and the generator respectively, and controls the engine, the generator, the motor and the clutch according to received sensor feedback signals;

the power battery pack is electrically connected with the generator and the motor, the generator is used for generating electricity and storing electric energy in the power battery pack, and the power battery pack is used for supplying power to the motor;

the output shaft of the motor is connected with the rotating shaft of the propeller through a power coupler;

the clutch is mechanically connected with the two power couplers and electrically connected with the control system.

2. The series-parallel hybrid unmanned aerial vehicle power system of claim 1, wherein the engine is a piston engine.

3. The series-parallel hybrid unmanned aerial vehicle power system of claim 1, wherein the clutch is turned on and off, and transmits or cuts off power output by an engine through signals transmitted by a control system.

4. The series-parallel hybrid unmanned aerial vehicle power system of claim 1, wherein an elevator is hinged to the tail wing to realize pitching control of the unmanned aerial vehicle.

5. A control method of a series-parallel hybrid unmanned aerial vehicle power system is characterized by comprising the following steps:

monitoring the state of the power battery pack: if the SOC value of the power battery pack reaches a set threshold value and the storage power exceeds the output power of the propeller, switching to a pure electric driving state; if the storage power of the power battery pack does not exceed the output power of the propeller, judging whether the SOC value of the power battery pack is lower than a set threshold value or not; if the SOC value of the power battery pack is lower than a set threshold value, switching to a pure oil driving state, otherwise, switching to an oil-electricity hybrid driving state;

when the vehicle is in a pure electric driving state: the control system controls the clutch to be disconnected, controls the engine and the generator to stop working, controls the motor to drive the propeller to work independently, and controls the power battery pack to be in a non-charging state;

when in the pure oil driving state: the control system controls the clutch to be closed, controls the motor to stop working, controls the engine to drive the propeller to work, and controls the generator to charge the power battery pack;

when in the oil-electricity hybrid driving state: the control system controls the clutch to be closed, the engine, the generator and the motor work, the engine and the motor output power simultaneously to drive the propeller to work, and the power battery pack is in a charging state; the control system controls the clutch to be disconnected and controls the engine, the generator and the motor to work, the motor drives the propeller to work, and the power battery pack is in a charging state.

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a series-parallel hybrid power unmanned aerial vehicle power system and a control method thereof.

Background

Along with the rapid development of new energy technology, products driven by pure electric power are gradually favored by people by virtue of the characteristics of zero emission and no pollution. However, the conventional power battery still has the defects of slow charging time, low energy density and the like, and cannot realize major technical breakthrough in a short time, and the hybrid power system can be used for overcoming the defects, so that the energy is saved and the environment is protected while the long endurance is ensured.

The current common hybrid power structures are series, parallel and series-parallel; the series hybrid power driving mode needs to convert the mechanical energy of the engine into electric energy, and then the electric energy is converted into the mechanical energy of the propeller through the motor, so that the energy utilization rate of the engine is not high, and meanwhile, the engine and the motor with higher power are needed; in the parallel hybrid power driving mode, the engine directly drives the propeller to work through the mechanical transmission mechanism, the output energy utilization rate of the engine is higher than that of the engine in a serial connection mode, and the engine is suitable for medium-high speed cruising flight; however, when flying under other flying conditions, the engine is not in the optimal working area, so that the oil consumption and the pollution discharge index of the engine are not as good as those of the series connection type. The above problems can be avoided by adopting a series-parallel hybrid power structure.

The series-parallel connection type hybrid power generation system has the characteristics of series connection and parallel connection, can meet the optimal matching of an engine, a generator and a motor under various working conditions, and achieves the purposes of energy recovery, energy conservation and emission reduction to the maximum extent.

Disclosure of Invention

In view of the defects of the prior art, the invention aims to provide a series-parallel hybrid unmanned aerial vehicle power system and a control method thereof, so as to solve the problems that the hybrid unmanned aerial vehicle engine and the motor in the prior art have large power requirements and the engine cannot be kept in an optimal working area. The invention can realize multiple working modes of independently outputting power by the piston engine, independently outputting power by the motor, simultaneously outputting power by the piston engine and the motor, simultaneously charging a power battery by the generator when the piston engine outputs power and the like, so as to realize the energy distribution requirement of the unmanned aerial vehicle under different flight working conditions. Meanwhile, the hybrid type hybrid power system can reduce the power of an engine and a motor, the battery capacity requirement is smaller, the weight of the unmanned aerial vehicle is reduced, and the unmanned aerial vehicle can be more suitable for the low-temperature and low-oxygen environment during high-altitude flight.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

the invention relates to a series-parallel hybrid power unmanned aerial vehicle power system, which comprises: the airplane comprises a fuselage, a first wing, a second wing, a tail wing, a propeller, an engine, a generator, a motor, a clutch, a power battery pack, a control system and a sensor;

the first wing and the second wing are respectively arranged on two sides of the fuselage, and the engine, the generator, the motor, the clutch, the power battery pack, the control system and the sensor are all arranged in the fuselage;

the propeller is arranged at the tail part of the machine body, and a rotating shaft of the propeller is connected with the output shaft of the engine through the clutch;

the engine output shaft is also connected with the generator input shaft through a power coupler;

the sensor collects acceleration, height and air pressure signals in real time and sends the collected signals to a control system electrically connected with the sensor;

the control system is electrically connected with the sensor, the engine and the generator respectively, and controls the engine, the generator, the motor and the clutch according to received sensor feedback signals;

the power battery pack is electrically connected with the generator and the motor, the generator is used for generating electricity and storing electric energy in the power battery pack, and the power battery pack is used for supplying power to the motor;

the output shaft of the motor is connected with the rotating shaft of the propeller through a power coupler;

the clutch is mechanically connected with the two power couplers and electrically connected with the control system.

Further, the engine is a piston engine.

Further, the clutch is closed and opened through signals transmitted by the control system, and power output by the engine is transmitted or cut off.

Furthermore, articulated on the fin have the elevator, can realize unmanned aerial vehicle's every single move and control, keep unmanned aerial vehicle stability in flight and control unmanned aerial vehicle's flight gesture.

The invention also discloses a control method of the series-parallel hybrid power unmanned aerial vehicle power system, which comprises the following steps:

monitoring the state of the power battery pack: if the SOC value of the power battery pack reaches a set threshold value and the storage power exceeds the output power of the propeller, switching to a pure electric driving state; if the storage power of the power battery pack does not exceed the output power of the propeller, judging whether the SOC value of the power battery pack is lower than a set threshold value or not; if the SOC value of the power battery pack is lower than a set threshold value, switching to a pure oil driving state, otherwise, switching to an oil-electricity hybrid driving state;

when the vehicle is in a pure electric driving state: the control system controls the clutch to be disconnected, controls the engine and the generator to stop working, controls the motor to drive the propeller to work independently, and controls the power battery pack to be in a non-charging state (the state is suitable for the cruise flight stage when the unmanned aerial vehicle lands or requires less power);

when in the pure oil driving state: the control system controls the clutch to be closed, controls the motor to stop working, controls the engine to drive the propeller to work, and controls the generator to charge the power battery pack (the state is suitable for the cruise flight stage when the unmanned aerial vehicle takes off or has low electric quantity);

when in the oil-electricity hybrid driving state: the control system controls the clutch to be closed, the engine, the generator and the motor work, the engine and the motor output power at the same time to drive the propeller to work, and the power battery pack is in a charging state (the state is suitable for the takeoff or cruise flight stage of the unmanned aerial vehicle); the control system controls the clutch to be disconnected and controls the engine, the generator and the motor to work, the motor drives the propeller to work independently, and the power battery pack is in a charging state (the state is suitable for the cruise flight phase of the unmanned aerial vehicle).

The invention has the beneficial effects that:

the hybrid power unmanned aerial vehicle adopts a series-parallel hybrid power structure, so that the maximum power of the adaptive engine and the adaptive motor can be reduced, the battery capacity is reduced, and the overall weight of the unmanned aerial vehicle is finally reduced. More importantly, the series-parallel hybrid power structure can adapt to energy distribution requirements under different working modes and different working conditions, the effects of reducing fuel consumption, increasing energy recovery and prolonging the endurance time of the unmanned aerial vehicle are achieved, and the purposes of reducing carbon emission and reducing environmental pollution are achieved.

Drawings

FIG. 1 is a block diagram of a series-parallel hybrid unmanned aerial vehicle power system of the present invention;

FIG. 2 is a schematic diagram of a power driving structure of a series-parallel hybrid power unmanned aerial vehicle according to the invention;

FIG. 3 is a flow chart of a control method of the present invention;

labeled as: 1. the elevator comprises a machine body 2, a sensor 3, a control system 4, an engine 5, a power coupler 6, a clutch 7, a generator 8, a power battery pack 9, a motor 10, a propeller 11, a tail wing 12 and an elevator.

Detailed Description

In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.

Referring to fig. 1 and 2, a series-parallel hybrid unmanned aerial vehicle power system according to the present invention includes: the airplane comprises a fuselage 1, a first wing, a second wing, a tail wing 11, a propeller 10, an engine 4, a generator 7, a motor 9, a clutch 6, a power battery pack 8, a control system 3 and a sensor 2;

the first wing and the second wing are respectively arranged on two sides of the fuselage 1, and the engine 4, the generator 7, the motor 9, the clutch 6, the power battery pack 8, the control system 3 and the sensor 2 are all arranged in the fuselage 1;

the propeller 10 is arranged at the tail part of the machine body 1, and a rotating shaft of the propeller is connected with an output shaft of the engine 4 through the clutch 6;

the output shaft of the engine 4 is also connected with the input shaft of the generator 7 through a power coupler 5;

the sensor 2 collects acceleration, height and air pressure signals in real time and sends the collected signals to a control system 3 electrically connected with the sensor;

the control system 3 is respectively electrically connected with the sensor 2, the engine 4 and the generator 7, and the control system 3 controls the engine 4, the generator 7, the motor 9 and the clutch 6 according to the received feedback signals of the sensor 2;

the power battery pack 8 is electrically connected with the generator 7 and the motor 9, the generator 7 is used for generating electricity and storing electric energy in the power battery pack 8, and the power battery pack 8 is used for supplying power to the motor 9;

the output shaft of the motor 9 is connected with the rotating shaft of the propeller 10 through a power coupler;

the clutch 6 is mechanically connected with the two power couplers and is electrically connected with a control system.

Wherein the engine 4 is a piston engine.

The clutch 6 is switched on and off by signals transmitted by the control system 3, and transmits or cuts off power output by the engine.

Wherein, articulated on the fin 11 have elevator 12, can realize unmanned aerial vehicle's every single move and control, keep unmanned aerial vehicle stability in flight and control unmanned aerial vehicle's flight attitude.

Referring to fig. 3, the invention also discloses a control method of the series-parallel hybrid unmanned aerial vehicle power system, which comprises the following steps:

monitoring the state of the power battery pack, and if the SOC value of the power battery pack reaches a set threshold value and the stored power exceeds the output power of the propeller, switching to a pure electric driving state; if the storage power of the power battery pack does not exceed the output power of the propeller, judging whether the SOC value of the power battery pack is lower than a set threshold value or not; if the SOC value of the power battery pack is lower than a set threshold value, switching to a pure oil driving state, otherwise, switching to an oil-electricity hybrid driving state;

when the unmanned aerial vehicle is in a pure electric driving state, the control system controls the clutch to be disconnected, controls the engine and the generator to stop working, controls the motor to drive the propeller to work independently, and controls the power battery pack to be in a non-charging state, wherein the state is suitable for a cruising flight stage when the unmanned aerial vehicle lands or needs smaller power;

when the unmanned aerial vehicle is in a pure oil driving state, the control system controls the clutch to be closed, controls the motor to stop working, controls the engine to drive the propeller to work, and controls the generator to charge the power battery pack, wherein the state is suitable for the cruise flight stage when the unmanned aerial vehicle takes off or has low electric quantity;

when the unmanned aerial vehicle is in the oil-electricity hybrid driving state, the control system controls the clutch to be closed, the engine, the generator and the motor work, the engine and the motor output power simultaneously to drive the propeller to work, the power battery pack is in a charging state, and the state is suitable for the takeoff or cruise flight stage of the unmanned aerial vehicle; the control system can also control the clutch to be disconnected and control the engine, the generator and the motor to work, the motor drives the propeller to work independently, the power battery pack is in a charging state, and the state is suitable for the cruise flight stage of the unmanned aerial vehicle.

While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.