CN104267737A - Solar four-rotor aircraft capable of tracking sun - Google Patents
Solar four-rotor aircraft capable of tracking sun Download PDFInfo
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- CN104267737A CN104267737A CN201410486020.4A CN201410486020A CN104267737A CN 104267737 A CN104267737 A CN 104267737A CN 201410486020 A CN201410486020 A CN 201410486020A CN 104267737 A CN104267737 A CN 104267737A
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Abstract
The invention provides a design scheme of a solar four-rotor aircraft capable of tracking the sun. In the design scheme, a sun tracking mechanism and a solar cell module which can realize two-shaft rotation are applied to a traditional four-rotor aircraft. By using a tracking sensor and real-time adjustment of an adjusting motor, the solar cell module is made to supply energy for a long time and output solar energy to the maximum. The solar four-rotor aircraft capable of tracking the sun can overcome the defect that the traditional four-rotor aircraft is short in airborne period, and therefore fully play is given to the application advantages of the four-rotor aircraft. Meanwhile, use of a two-shaft motor can realize the purpose that the solar cell module can rotate to the optimal direction at a time, and therefore energy of a four-rotor aircraft system is saved; application of a highest power tracker enables the solar cell module to always work at the highest power point, and therefore solar energy is utilized to the maximum degree.
Description
One, technical field:
The invention provides and a kind ofly to the design proposal of day solar battery quadrotor, aerospace vehicle energy resource system technical field can be belonged to.
Two, background technology:
Quadrotor adopts four rotors as the direct driving force source of flight, rotor is symmetrically distributed in all around four direction of body, four rotors are in sustained height plane, and the structure of four rotors and radius are all identical, cornerwise rotor wing rotation direction is identical, one group turns clockwise, and another group is rotated counterclockwise, and so just can balance the reactive torque of rotor to fuselage.The bracket end being arranged on aircraft of four motor symmetries, support intermediate space lays flight-control computer and external unit.Quadrotor can freely hover and vertical takeoff and landing, and structure is simple, is easy to control.The aircraft of relative other types, quadrotor compact conformation, can produce larger lift.These advantages determine it and have a wide range of applications field, and not only having the various fight functions that general battlefield needs, such as to the fixed point monitoring of target area, is other operational weapon indicating targets etc., even can as the carrier throwing in weapon.
Quadrotor generally provides the energy by lithium battery, provides electric current to four motors, thus drive motor rotates.But be subject to lithium battery energy density and Flight Vehicle Structure heavily quantitative limitation, the lithium battery that quadrotor carries is limited, again because the energy storage of lithium battery is its unique energy source, so the hang time of quadrotor must be affected.Airborne period this feature short has become the weakness that quadrotor is fatal.In recent years, solar battery technology develops rapidly, Application of Solar Energy technology can be combined with flying platform, thus provides a kind of thinking for solving the short problem of quadrotor airborne period.
For this reason, by will day by day ripe solar battery technology and apply on quadrotor to day follower, the invention provides a kind of that can follow the tracks of day, sun power can be made full use of to realize leaving a blank for a long time the novel quadrotor design proposal of flight.
Three, summary of the invention:
(1) object: the invention provides a kind of can to day follow the tracks of, can make full use of sun power realize leave a blank for a long time flight novel quadrotor design proposal, the program is by solar battery technology and apply in the design of quadrotor to day follower, utilize the real-time adjustment of tracking transducer and adjustment motor, realize the acquisition to sun power ceiling capacity, traditional quadrotor airborne period this critical defect short can be solved, thus the application advantage of quadrotor is not fully exerted.
(2) technical scheme: the present invention is that one can to day solar battery quadrotor design proposal, the program is installed day tracking transducer four rotor point of crossing (i.e. center) of conventional quadrotor, measures solar azimuth in real time; The point midway of the four edges of four rotor formations installs the solar module that can realize diaxon and rotate, taking measurement of an angle as impact point with tracking transducer.
Such scheme utilizes tracking transducer and regulates the real-time adjustment of motor, can not only the position angle in each moment of the Measurement accuracy sun, and then detects sunshine whether vertical incidence solar panel.And when sunshine departs from cell panel normal, sensor sends deviation signal, making solar panel again align the sun through controlling topworks, when enabling solar module long, exporting solar energy to greatest extent.Meanwhile, the use of two spindle motors can realize that solar module is disposable turns to best orientation, thus saves the energy of quadrotor system.
Described to sun-tracker primarily of shell, interface electric wire, pop one's head in and be installed in shell circuit composition.
This shell comprises semispherical cap and cylindrical base.
Wherein, lid is hollow hemisphere, it has multiple through hole, and for installing sensitive probe, the elongated central congruence of each through hole meets at the hemispheroidal centre of sphere.
Wherein, base is hollow cylinder, and for mounting circuit boards and corresponding components and parts, and base exterior is provided with installation room, for fixedly mounting whole sensor.
This interface electric wire is connected with controller with external circuit.
This probe is made up of lens barrel, convex lens and a photo-resistor.
Wherein, lens barrel adopts the ater plastic material that absorbing ability is stronger, greatly can reduce the reflection of sunshine on lens barrel inwall.
Wherein, photo-resistor is arranged on above focus (when the sun is just the penetrating convex lens) position of convex lens, and on the center line of lens barrel.
This circuit comprises photoelectric conversion circuit, inclination angle detection circuit.Photoelectric conversion circuit utilizes photo-resistor and fixed resistance value resistor in series to form bleeder circuit, and sunshine change is changed into change in voltage; Inclination angle detection circuit adopts double-shaft tilt angle sensor to realize inclination angle detection.
Described two spindle motors are primarily of stepper motor, transmission shaft, control enclosure and be configured to.After control system receives the turn signal of sensor, control system will carry out according to the signal of sensor the stepper motor that judges to need to drive that orientation, then be divided into two path control signal to export to stepper motor driver one tunnel control signal and drive level orientation stepper motor driver, drive the main axis that is fixed on support, be used for realizing the tracking of sunray level orientation; Another road control signal drives vertical orientations stepper motor to drive solar panel relatively and holder pivots, is used for realizing the tracking to sunray elevation angle.
The solar battery array that described solar module is made up of silicon-based photovoltaic cells.Because photovoltaic cell has nonlinear current-voltage (I-V) characteristic and output characteristics depends on power loading, therefore, be called that the technology (Maximum Power Point Tracking, MPPT) of MPPT maximum power point tracking has important impact to the integral energy utilization ratio promoting photovoltaic cell.So-called MPPT is exactly the DC/DC converter of the electron device that monitors of a set of electric current to photovoltaic cell and energy-storage battery and voltage and one group of adjustable gain.By changing gain, MPPT can make the energy obtained from photovoltaic cell reach maximal value.By the utilization of maximal power tracing device, the maximum power point (mpp) of solar module can be followed the trail of the moment, and remain that it is in maximum power point work, and then make sun power to greatest extent for quadrotor provides energy.
One of the present invention can to day solar battery quadrotor, and its basic design scheme is as follows:
1. combine technical parameter and the task parameters (comprising mission payload, airborne period, maximum flying speed and ceiling altitude etc.) preset and rise galassing and weigh, push away resistance balance, energy equilibrium principle, conceptual design is carried out to novel quadrotor, and design proposal is proved and simulating, verifying;
2. carry out the airborne platform of quadrotor, comprise these three parts of body, software systems and electronic unit;
3. meanwhile, design day follower, requirement can monitor the change of solar azimuth the moment accurately.This partial design comprises configuration design (focal length of lens and the number etc. of probe) and circuit design (comprising photoelectric conversion circuit and inclination angle detection circuit) two large divisions;
4. inspection is to day follower duty;
5. carry out the design of two spindle motors.In order to improve the flying quality of novel quadrotor, under the prerequisite that can reach systemic-function, diaxon electromechanics structure being optimized, alleviating the weight of motor as far as possible.In addition the controller of motor is designed;
6. meanwhile, consider the harmony that novel quadrotor flight course is stressed, rational deployment is carried out to four two spindle motors;
7. check the working condition of two spindle motors;
8. carry out the research of silicon-based photovoltaic cells output characteristics, the power that guarantee solar cell exports in practice can meet the demand power of system energy;
9. meanwhile, lay area according to theory, the carrying out of solar battery sheet is laid, composition solar module, and maximal power tracing device is installed;
10. test the performance of solar module;
The 11. general assembly work carrying out whole system.Comprise quadrotor fuselage, to day follower, two spindle motors and this four large main part of solar module;
12. meanwhile, carries out circuit between modules and connect and the combination of software;
13. is last, carries out verification experimental verification to whole novel quadrotor.
(3) advantage and effect: one of the present invention can to day solar battery quadrotor, utilize tracking transducer and regulate the real-time adjustment of motor, can the position angle in each moment of the Measurement accuracy sun in moment.And when sunshine departs from cell panel normal, sensor sends deviation signal, through two spindle motors adjustment make solar panel again align the sun, thus solar module can long time, export solar energy to greatest extent.Meanwhile, the use of two spindle motors can realize that solar module is disposable turns to best orientation, thus saves the energy of quadrotor system.By the present invention, conventional quadrotor airborne period this critical defect short can be solved.
Four, accompanying drawing illustrates:
Fig. 1 is that the present invention is a kind of can to the structural representation of day solar battery quadrotor;
Fig. 2 is the structural representation of dual-axle motor;
Fig. 3 is the structural representation to day tracking transducer.
Number in the figure is described as follows:
1. screw propeller drive motor, 2. propeller blade, 3. quadrotor frame,
4. quadrotor control gear, 5. dual-axle motor, 6. solar module,
7. pair day tracking transducer, 8. level orientation motor, 9. vertical orientations motor,
10. transmission shaft, 11. motor control boxes, 12. maximal power tracing devices,
13. dual-axle motor frames, 14. sensor probes, 15. sensor base,
16. sensor cover, 17. sensor wire,
Five, embodiment:
Can be further described day solar battery quadrotor below in conjunction with the one in Fig. 1,2,3 couples of the present invention:
The invention provides a kind of can to day follow the tracks of, can make full use of sun power realize leave a blank for a long time flight novel quadrotor design proposal, as shown in Figure 1, the program is installed day tracking transducer 7 four rotor point of crossing (i.e. center) of conventional quadrotor (comprising motor 1, propeller blade 2, frame 3 and controller 4), measures solar azimuth in real time; The point midway of the four edges of four rotor formations has installed two spindle motors 5 and rotating solar module 6, taking measurement of an angle as impact point with tracking transducer.The use of two spindle motors can realize that solar module is disposable turns to best orientation, can not only save system capacity, and can realize the acquisition to sun power ceiling capacity.
This dual-axle motor as shown in Figure 2, is provided with level orientation motor 8 and vertical orientations motor 9, two motors drive respective transmission shaft 10 respectively on electric motor stand 13 and on base 15, and the driving of motor simultaneously controls by motor control box 11.
This to day tracking transducer as shown in Figure 3, its shell comprises cylindrical base 15 and semispherical cap 16, and cap top is provided with multiple through hole, and for sensor installation probe 14, cylindrical base has sensor wire 17 below, for connecting other equipment outside.
One of the present invention can to day solar battery quadrotor, and its basic design scheme is as follows:
1. combine technical parameter and the task parameters (comprising mission payload, airborne period, maximum flying speed and ceiling altitude etc.) preset and rise galassing and weigh, push away resistance balance, energy equilibrium principle, conceptual design is carried out to novel quadrotor, and design proposal is proved and simulating, verifying;
2. carry out the airborne platform of quadrotor, comprise these three parts of body, software systems and electronic unit;
3. meanwhile, design day follower, requirement can monitor the change of solar azimuth the moment accurately.This partial design comprises configuration design (focal length of lens and the number etc. of probe) and circuit design (comprising photoelectric conversion circuit and inclination angle detection circuit) two large divisions;
4. inspection is to day follower duty;
5. carry out the design of two spindle motors.In order to improve the flying quality of novel quadrotor, under the prerequisite that can reach systemic-function, diaxon electromechanics structure being optimized, alleviating the weight of motor as far as possible.In addition the controller of motor is designed;
6. meanwhile, consider the harmony that novel quadrotor flight course is stressed, rational deployment is carried out to four two spindle motors;
7. check the working condition of two spindle motors;
8. carry out the research of silicon-based photovoltaic cells output characteristics, the power that guarantee solar cell exports in practice can meet the demand power of system energy;
9. meanwhile, lay area according to theory, the carrying out of solar battery sheet is laid, composition solar module, and maximal power tracing device is installed;
10. test the performance of solar module;
The 11. general assembly work carrying out whole system.Comprise quadrotor fuselage, to day follower, two spindle motors and this four large main part of solar module;
12. meanwhile, carries out circuit between modules and connect and the combination of software;
13. is last, carries out verification experimental verification to whole novel quadrotor.
It should be pointed out that this example only listing property application process of the present invention is described, but not for limiting the present invention.Any personnel being familiar with this kind of operation technique, all can without departing from the spirit and scope of the present invention, to the capable amendment of above-described embodiment.Therefore, the scope of the present invention, should be as is described in the claims.
Claims (4)
1. to a day solar battery quadrotor, can it is characterized in that:
Install day tracking transducer in four rotor point of crossing of conventional quadrotor, measure solar azimuth in real time; The solar module that can realize diaxon and rotate is installed, taking measurement of an angle as impact point with tracking transducer between four rotors.Described to sun-tracker primarily of shell, interface electric wire, pop one's head in and be installed in shell circuit composition, when sunshine departs from cell panel normal, sensor sends deviation signal.Described two spindle motors are primarily of stepper motor, transmission shaft, control enclosure and be configured to, the signal that control system will send according to sensor, regulate the position of solar module in real time, and the angle measured with tracking transducer is for impact point.
2. to a day solar battery quadrotor, can it is characterized in that:
Quadrotor is applied to the solar module that can realize diaxon rotation by day follower, not only can utilize sun power can long time the characteristic of energy is provided, and solve the short critical defect of traditional quadrotor airborne period, and then ability quadrotor can being stablized flight in sky gives full play to, thus the range of application of quadrotor can be expanded.
3. to a day solar battery quadrotor, can it is characterized in that:
The utilization of two spindle motors can make that solar module is disposable forwards best orientation to, thus saves the energy of system.The utilization of maximal power tracing device can make solar module all the time in the work of maximum power point place, thus realizes the acquisition to sun power ceiling capacity.
4. to a day solar battery quadrotor, can it is characterized in that: its basic development flow process is as follows:
(1) combine technical parameter and the task parameters (comprising mission payload, airborne period, maximum flying speed and ceiling altitude etc.) preset and rise galassing and weigh, push away resistance balance, energy equilibrium principle, conceptual design is carried out to novel quadrotor, and design proposal is proved and simulating, verifying;
(2) carry out the airborne platform of quadrotor, comprise these three parts of body, software systems and electronic unit;
(3) meanwhile, design day follower, requirement can monitor the change of solar azimuth the moment accurately.This partial design comprises configuration design (focal length of lens and the number etc. of probe) and circuit design (comprising photoelectric conversion circuit and inclination angle detection circuit) two large divisions;
(4) inspection is to day follower duty;
(5) design of two spindle motors is carried out.In order to improve the flying quality of novel quadrotor, under the prerequisite that can reach systemic-function, diaxon electromechanics structure being optimized, alleviating the weight of motor as far as possible.In addition the controller of motor is designed;
(6) meanwhile, consider the harmony that novel quadrotor flight course is stressed, rational deployment is carried out to four two spindle motors;
(7) meanwhile, consider the harmony that novel quadrotor flight course is stressed, rational deployment is carried out to four two spindle motors;
(8) carry out the research of silicon-based photovoltaic cells output characteristics, the power that guarantee solar cell exports in practice can meet the demand power of system energy;
(9) meanwhile, lay area according to theory, the carrying out of solar battery sheet is laid, composition solar module, and maximal power tracing device is installed;
(10) performance of solar module is tested;
(11) the general assembly work of whole system is carried out.Comprise quadrotor fuselage, to day follower, two spindle motors and this four large main part of solar module;
(12) meanwhile, carry out circuit between modules to connect and the combination of software;
(13) last, verification experimental verification is carried out to whole novel quadrotor.
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Application publication date: 20150107 Assignee: TIANJIN TIANHANG ZHIYUAN TECHNOLOGY CO.,LTD. Assignor: BEIHANG University Contract record no.: X2022990000946 Denomination of invention: A Solar Quadrotor Aircraft with Tracking to the Sun Granted publication date: 20170714 License type: Common License Record date: 20221201 |
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