CN107140229B - Energy supply system for staying unmanned aerial vehicle - Google Patents
Energy supply system for staying unmanned aerial vehicle Download PDFInfo
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- CN107140229B CN107140229B CN201710285850.4A CN201710285850A CN107140229B CN 107140229 B CN107140229 B CN 107140229B CN 201710285850 A CN201710285850 A CN 201710285850A CN 107140229 B CN107140229 B CN 107140229B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F3/00—Ground installations specially adapted for captive aircraft
- B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/30—Supply or distribution of electrical power
- B64U50/34—In-flight charging
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Abstract
The invention relates to an energy supply system for a staying unmanned aerial vehicle, which is characterized by comprising a fuel cell stack, a storage battery or a super capacitor, a power controller, a composite fuel gas delivery pipe, a fuel gas storage device and a ground control system, wherein the fuel cell stack, the storage battery or the super capacitor and the power controller are installed on the unmanned aerial vehicle, one end of the composite fuel gas delivery pipe is connected to the fuel cell stack, and the other end of the composite fuel gas delivery pipe is connected to the fuel gas storage device. According to the energy supply system of the tethered unmanned aerial vehicle, the energy transmitted from the ground to the aircraft is fuel gas conveyed by a pipeline, and comprises combustible gas such as hydrogen and methane, and the energy transmitted from the ground to the aircraft by the traditional cable tethered aircraft is electric energy conveyed by the cable, so that the tethered unmanned aerial vehicle can ascend to the high altitude of more than hundreds of meters.
Description
Technical Field
The invention relates to an energy supply system of an aircraft, in particular to an energy supply system of a staying unmanned aerial vehicle.
Background
With the explosion development of the unmanned aerial vehicle industry, various unmanned aerial vehicle systems are invented and used for realizing different task operations. Unmanned vehicles are classified according to appearance and flight principles, and there are three main types: fixed wing, helicopter, many rotors. Wherein fixed wing section unmanned aerial vehicle can't VTOL and hover, helicopter and many rotor unmanned aerial vehicle all can VTOL and hover. The invention is a hybrid hydrogen energy system of the mooring type aerial vehicle capable of vertically taking off, landing and hovering.
Through theoretical analysis, many rotor unmanned aerial vehicle, including 4 rotor unmanned aerial vehicle, 6 rotor unmanned aerial vehicle and 8 rotor unmanned aerial vehicle etc. a plurality of identical rotors of characterized by rotate in opposite directions in pairs, produce lift. Simultaneously, the speed difference between the different rotors produces the inclination of unmanned aerial vehicle to ground to produce rotatory and forward, backward flight. Therefore, many rotor unmanned aerial vehicle simple structure, control is simple, realizes easily. But the fundamental problem with multi-rotor drones is that their lift comes from a plurality of smaller rotors, the total area of which is limited. Therefore, the load is too small, and the high-load, long-range or long-endurance flight with high wind resistance is difficult to realize. In addition, to increase the load on a multi-rotor aircraft, only the size of the rotor can be increased, while the simple control of the movement of a multi-rotor aircraft relies entirely on the timely speed and direction change of the propellers in order to adjust the forces and moments, which is not suitable for the extension to multi-rotors of larger sizes, since the larger the blade size, the more difficult it is to rapidly change its speed and pitch. Therefore, the takeoff weight of the existing multi-rotor unmanned aerial vehicle is below 20 kilograms, and the effective load is mostly below five kilograms and six kilograms. Accordingly, the weight of the lithium ion battery loaded for flight is very limited. Because the energy-weight ratio of the lithium ion battery is not high, the flight time of the multi-rotor aircraft is generally less than 30 minutes, and the multi-rotor aircraft is mainly used for unloaded toys and the fields with low load and low endurance requirements such as aerial photography.
The basic feature of an unmanned helicopter is to have one or a pair of large rotors whose area is much larger than the total area of the rotors of a multi-rotor drone, and therefore its load capacity and endurance are much larger than that of a multi-rotor drone. The unmanned helicopter can increase the size of a rotor wing relatively conveniently, has large diameter and high efficiency, and can realize large load and high stability. But the control system of the helicopter is complex and high in cost. Autopilot controllers are quite difficult to design and implement. Thus reducing the energy load of the helicopter increases the payload of the helicopter. Namely, under the same load, the size of the wings of the helicopter is reduced, so that the complexity and the whole manufacturing cost are reduced.
All these vertical take-off and landing aircraft of the rotary wing type have the common characteristic that the lift force of the aircraft is provided by the high-speed rotation of the rotary wing, and a large amount of energy is consumed when the aircraft is flying or hovering. At present, the energy sources of the rotary wing type aircraft mainly comprise various energy storage batteries (such as lithium batteries and the like) and fuel oil (such as gasoline, aviation kerosene and the like). Because of the limited energy-to-mass ratio of these energy sources, all rotary wing aircraft face a common bottleneck problem of low payload, short flight time, short endurance mileage, slow flight speed, and the like.
One solution to the above problem is a tethered unmanned helicopter or multi-rotor aircraft, collectively referred to as a tethered aircraft. The aircraft is characterized in that the common vertical take-off and landing aircraft comprises single-rotor aircraft and multi-rotor aircraft, and a ground energy supply system is additionally arranged, so that the aircraft can hover in the air for a long time, but the flight distance and the height of the aircraft are limited by the ground energy system, and the aircraft cannot fly too high or too far. The existing mooring aircraft adopts a method that a ground energy system supplies power to the aircraft through a cable, so that long-time mooring flight of the aircraft is realized. The ground energy system can be a fixed type or a vehicle-mounted power generation system. The method for supplying energy to the ground can theoretically perform unlimited flight.
Among the existing electric mooring aircrafts, a multi-rotor electric mooring unmanned aerial vehicle of israel skysapience company is more successful. The maximum flying height of the electric mooring aircraft is 50 meters, a mooring cable is connected to a ground energy system, and the aircraft does not have energy required by long-time flying. Wherein the ground energy system is a vehicle-mounted small gasoline/diesel generator, thereby solving the maneuvering problem of the mooring aircraft.
The main problem of the electrical mooring multi-rotor aircraft is that the motors on the aircraft are generally low-voltage direct current motors, and the motors are easy to realize the flight control of the multi-rotor aircraft by adjusting the rotating speed of the motors. The voltage of such motors is typically less than 50 volts. Compared with a multi-rotor aircraft with 3-5 kilowatts, the power supply current reaches 50-100 amperes. The dead weight of the mooring cable powered by large current is large, and the dead weight is up to 100-300 g/m calculated by the silver-plated cable with the best conductivity. The dead weight of the 50-meter mooring cable reaches 10 kilograms in terms of the middle number. Thus, the high-efficiency flying height of such aircraft is 20-30 meters, but it is difficult to achieve a flying demand higher than 50 meters.
There are some high voltage dc or ac motors for aircraft, but it is not easy to achieve light weight, stability, high efficiency at the same time. If the recently tested direct current motor with the working voltage of 400V can effectively reduce the transmitted current theoretically under the same power, the unit weight and the transmission voltage drop of the mooring cable are reduced, and the flying height of the mooring unmanned aerial vehicle is improved. However, high voltage direct current needs a good insulating material in transmission and use, so that the weight of a mooring cable is increased, the waterproof requirement of the whole system of an aircraft is greatly increased, and more importantly, the speed regulation of a high voltage motor needs a special high voltage speed regulator, so that the total weight of the mooring system is increased. But also increases the risk to the operator, making it difficult to use practically only in a theoretical stage. Another problem with this type of tethered aircraft is that the ground power supply needs to be increased by several kilowatts, is bulky, consumes high fuel, and is difficult to operate for a long time in practice.
Disclosure of Invention
The invention provides an energy supply system for a single-rotor and multi-rotor mooring unmanned aerial vehicle, which comprises an airborne fuel cell stack, an airborne storage battery or super capacitor, an airborne power supply control system, a composite fuel gas delivery pipe, a fuel gas storage container or fuel gas generator, a ground control system and the like. The fuel gas storage container or the fuel gas generator is positioned on the ground and provides fuel gas for power generation for the onboard fuel cell stack, and the composite fuel gas conveying pipe is connected with the onboard fuel cell stack and the fuel gas storage container or the fuel gas generator on the ground. If the entire system is used on board or on board a ship, the fuel gas storage vessel or generator is located on the respective vehicle. The fuel cell stack is a power generation system that converts a combined energy discharge process of fuel gas, such as hydrogen, methane gas, propane gas, butane gas, etc., and oxygen, into electric energy. For example, a conventional hydrogen fuel cell stack separates hydrogen and oxygen on two sides of a proton membrane, and the two gases react on the proton membrane to generate water and release electric energy. Fuel cell stacks have been used in many instances in rotorcraft, but there are no tethered aircraft based on fuel cell stacks.
In order to solve the technical problems, the invention adopts the following technical scheme:
(1) the utility model provides a staying unmanned aerial vehicle energy supply system, includes fuel galvanic pile, battery or super capacitor, electrical source controller, the gaseous conveyer pipe of compound fuel, gaseous storage device of fuel and ground control system, fuel galvanic pile, battery or super capacitor, electrical source controller install on unmanned aerial vehicle, one end of the gaseous conveyer pipe of compound fuel is connected on fuel galvanic pile, and another end is connected on gaseous storage device of fuel.
(2) According to (1) mooring unmanned aerial vehicle energy supply system, be equipped with communication optic fibre on the compound fuel gas transmission pipe, connect ground control system, unmanned aerial vehicle flight control system and unmanned aerial vehicle load system for signal transmission.
(3) According to the energy supply system for the tethered unmanned aerial vehicle in the (1) or (3), the reinforced fiber is arranged outside the composite fuel gas conveying pipe and is wound around the pipe so as to enhance the tensile resistance, elasticity, strength and the like of the light pipe.
(4) The energy supply system for the tethered unmanned aerial vehicle according to any one of (1) to (3), wherein the power supply controller at least comprises a storage battery or super capacitor temperature monitoring module, a storage battery or super capacitor electric quantity monitoring module, a storage battery or super capacitor charging and discharging management module, a fuel cell stack temperature monitoring module, a fuel cell stack power generation control module, a fuel cell stack gas pressure detection module and a comprehensive power supply management module.
(5) The energy supply system for the tethered unmanned aerial vehicle according to any one of (1) - (4), wherein the storage battery or super capacitor temperature monitoring module: the storage battery or the super capacitor is generally composed of a plurality of battery or super capacitor units, the temperature monitoring module is arranged in the storage battery or the super capacitor, namely a plurality of temperature sensors are arranged among the plurality of battery units or the super capacitor units, and the temperature monitoring module monitors whether the storage battery or the super capacitor normally operates according to the temperature of the storage battery or the super capacitor acquired by the plurality of temperature sensors, and alarms and reduces output power when the temperature is overhigh and abnormal.
(6) According to the energy supply system for the tethered unmanned aerial vehicle, the storage battery or super capacitor electric quantity monitoring module acquires the voltage of each unit of the storage battery or super capacitor, monitors whether the storage battery or super capacitor normally operates, alarms and reduces output power when the electric quantity is too low and abnormal, and meanwhile, the electric quantity monitoring module increases the power generation power of the hydrogen stack to charge the storage battery or super capacitor through the power management module when the electric quantity of the storage battery or super capacitor rapidly drops.
(7) The energy supply system for the tethered unmanned aerial vehicle according to any one of (1) to (6), wherein the storage battery or super capacitor charge-discharge management module: the charging and discharging current of the storage battery or the super capacitor is adjusted by adjusting the power generation power of the fuel cell stack, meanwhile, the charging and discharging management module calculates the current required for charging by monitoring the charging current and the charging time, and timely adjusts the power generation power of the hydrogen cell stack after the power monitoring module feeds back the power requirement, and stops charging.
(8) The tethered drone energy supply system of any one of (1) - (7), the fuel cell stack temperature monitoring module: through a plurality of temperature sensor that set up in the fuel galvanic pile, the inside temperature of control fuel galvanic pile at operation in-process galvanic pile, the rotational speed of the radiator fan of regulating galvanic pile is according to the height of temperature in the galvanic pile to the monitoring module, and when the high temperature, reinforcing initiative radiator fan's power when the temperature was too high, lower or when reasonable temperature range, reduced initiative radiator fan's power, practices thrift power consumption.
(9) The tethered drone energy supply system of any one of (1) - (8), the fuel cell power generation control module: according to the power demand that charge and discharge management module and unmanned aerial vehicle flight control system provided, fuel cell stack electricity generation control module synthesizes the generated power of adjusting fuel cell stack through the air input of the combustible gas of adjusting fuel cell stack to when needing maximum power electricity generation, increase initiative radiator fan's power, with the oxygen that improves more and better heat dissipation.
(10) The tethered drone energy supply system of any one of (1) - (9), the fuel cell stack gas pressure detection module: the pressure of combustible gas inside the fuel galvanic pile in the operation process of the fuel galvanic pile is monitored through one or more pressure sensors arranged in the fuel galvanic pile, the gas pressure monitoring module adjusts a pressure release valve of the galvanic pile according to the gas pressure in the galvanic pile, and when the pressure is too high, the pressure is actively released, so that the normal operation of the fuel galvanic pile is maintained.
(11) The tethered drone energy supply system of any of (1) - (10), the integrated power management module: according to parameters such as flight power parameters, the current charging demand of a storage battery or a super capacitor, the current power generation power of a fuel cell stack, the current electric quantity of the storage battery or the super capacitor and the like provided by an aircraft flight control system, the optimal operation parameters of each module of the power supply are comprehensively calculated, so that the power generation power, the charging and discharging power and the like of the fuel cell stack are managed through each management module.
(12) The energy supply system of the tethered unmanned aerial vehicle according to any of (1) to (11), wherein a ground end of the composite fuel gas delivery pipe is provided with a three-way or multi-way valve for connecting the composite fuel gas delivery pipe and the fuel gas storage device or the fuel gas generation device, wherein the multi-way valve is used for connecting a plurality of fuel gas storage devices or gas generation devices, so that the gas storage device or the gas generation device can be replaced without affecting the delivery of the fuel gas, and the fuel cell stack has a stable gas source.
(13) The energy supply system for the tethered unmanned aerial vehicle according to any one of (1) to (12), wherein an unmanned aerial vehicle end of the composite fuel gas delivery pipe is provided with an electronic control valve for connecting the composite fuel gas delivery pipe and the fuel cell stack, and the electronic control valve is controlled by the fuel cell stack power generation control module to regulate the flow of fuel gas entering the fuel cell stack, so that the fuel cell stack generates power according to the calculated power generation requirement of the integrated power management module.
(14) The energy supply system of the tethered unmanned aerial vehicle according to any one of (1) to (13), wherein the fuel cell stack is an electrochemical power generation device which converts chemical energy in fuel gas into electric energy through oxidation-reduction reaction, and is also called a fuel cell; the fuel gas is hydrogen gas, butane gas, propane gas or methane gas.
(15) According to the energy supply system for the tethered unmanned aerial vehicle in any one of the items (1) - (14), at least temperature and voltage sensors are installed in the storage battery or the super capacitor group and used for adjusting the charging and discharging performance of the storage battery or the super capacitor; the fuel galvanic pile is internally provided with a temperature sensor, an air pressure sensor, an air inlet valve and a water outlet valve, and is used for adjusting the power generation power of the fuel galvanic pile and ensuring the power generation safety of the galvanic pile.
The difference between the fuel cell-based tethered drone of the present invention and the existing cable-tethered aircraft is that the energy source of the tethered drone of the present invention is fuel gas, such as hydrogen, methane, propane, butane gas, etc., that is transported from the ground to the aircraft, and that is transported through composite piping. The fuel gas is converted into electric energy in an onboard fuel cell stack through electrochemical reaction to serve as the energy source of the unmanned aerial vehicle, and the energy source transmitted from the ground to the aircraft by the conventional cable-tethered aircraft is the electric energy transmitted through the cable. Accordingly, the present invention provides a complete fuel cell-based energy system for a tethered aerial vehicle, wherein the tether connecting the aerial vehicle to the ground is a lightweight hollow composite hose comprising a lightweight hollow hose, signal transmission fibers, and reinforcing fibers. Such as a lightweight, flexible plastic tube reinforced with carbon fibers, combined with optical fibers. The composite gas captive tube is characterized by being light, and when the fuel is hydrogen, the weight of the composite fuel gas delivery tube filled with hydrogen in the system can be microgravity, taking into account the buoyancy of the hydrogen tube in air. Because of this feature, a fuel cell stack-based tethered aircraft can rise to heights above several hundred meters.
The fuel gas storage container may be various depending on the storage method of the fuel gas. The storage means of the fuel gas generally include three types: high pressure gas storage, liquefied gas storage, compound or compound storage, etc., as described below: (1) the most common storage method of gas is high-pressure storage, and correspondingly, the storage container is a high-pressure gas storage tank, the national standard of China stipulates that the pressure of stored hydrogen is 35MPa at most, and some countries in Europe adopt the national standard of 70MPa and also have a gas storage tank of 70 MPa; (2) gas liquefaction is also an important way for gas storage, for example, the critical temperature of butane gas is 0 ℃, so that propane, butane gas and the like can be stored in the form of liquid below the critical temperature, and accordingly, the storage container is a low-pressure liquefied gas storage device; (3) finally, gaseous compounds or compounds are also an important way of gas storage. For example, combustible ice is a hydrate of methane, which may evolve methane gas upon heating. The metal hydride, the hydrogenated compound and the like can produce the hydrogen storage alloy through the reaction of hydrogen and specific metal, and can store a large amount of hydrogen at normal temperature, and correspondingly, the fuel gas storage container is a hydrogen storage alloy reaction device filled with the specific metal.
In order to meet the requirements of emergency and take-off and landing of the aircraft, the aircraft is also provided with a standby large-capacity storage battery or a super capacitor and a corresponding power management system for providing an instantaneous high-power supply and subsequent charging management. The capacity of the storage battery or the super capacitor takes the storage battery or the super capacitor as a standard for guaranteeing the aircraft to fly for 1-5 minutes. The flying time of 1-5 minutes can be estimated according to the design flying height and flying parameters of the mooring type aircraft. For example, an aircraft has a design flying height of 100 meters, and in an emergency situation, the time required for its automatic landing is 90 seconds; the total power of the aircraft is 3KW, the working voltage is 30 volts, the voltage of the equipped lithium battery is 30V, and the capacity is 2000-5000 mAH. The battery is used for supporting the safe and controllable landing of the aircraft in an emergency situation, such as the failure of air supply caused by the air leakage of the hydrogen pipe.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic structural diagram of an energy supply system of an unmanned aerial vehicle;
fig. 2 is a schematic diagram of a power supply controller module of an unmanned aerial vehicle energy supply system.
In the figure, 10 is the unmanned aerial vehicle body, 11 is compound fuel gas delivery pipe, 12 is optic fibre, 13 is ground control system, 14 is battery or super capacitor, 15 is the outlet valve, 16 is the fuel galvanic pile, 17 is the admission valve, 18 is power controller, 19 is the sensor, 20 is the breather, 21 is gaseous storage device of fuel.
Detailed Description
As shown in fig. 1, an energy supply system for a tethered unmanned aerial vehicle includes a fuel cell stack 16, a storage battery or super capacitor 14, a power controller 18, a composite fuel gas delivery pipe 11, a fuel gas storage device 21, a ventilation device 20, a ground control system 13, and the like. Fuel galvanic pile 16, battery or super capacitor 14, power controller 18 etc. are installed on unmanned aerial vehicle body 10, 16 on the fuel galvanic pile is connected to one end of compound fuel gas delivery pipe 11, and another connection is on breather 20 and the gaseous storage device of fuel 21 on ground, breather 20 is equipped with two joints, can change gaseous storage device of fuel 21 in the use, extension aircraft flight time in the air. The composite fuel gas delivery pipe 11 is provided with a communication optical fiber 12, and the optical fiber 12 is connected with a ground control system 13, an unmanned aerial vehicle flight control system, an unmanned aerial vehicle load system and the like for signal transmission. And reinforcing fibers are arranged outside the composite fuel gas conveying pipe 11 and wrap the pipe to increase the strength of the composite fuel gas conveying pipe.
The storage battery or super capacitor group 14 is at least internally provided with a plurality of sensors 19 for temperature, voltage and the like, and the sensors are used for adjusting the charging and discharging performance of the storage battery or super capacitor. The fuel electric pile is at least internally provided with a plurality of sensors 19 for temperature, air pressure and the like, an air inlet valve 17 and a water drain valve 15 for adjusting the power generation power of the fuel electric pile and ensuring the power generation safety of the electric pile. The fuel gas storage or generation device 21 can be used in combination with the ventilation device 20, and the gas supply device can be replaced when the unmanned aerial vehicle runs by opening or closing a ventilation valve in the ventilation device, so that the continuity of gas supply in the flight process is guaranteed.
The fuel gas is hydrogen, butane gas, propane gas, methane gas, hydrogen gas and the like, the power of the fuel electric pile is generally 2-10 kilowatts at present, the takeoff weight of the unmanned aerial vehicle is 10-50 kilograms, and the effective load of the unmanned aerial vehicle is 2-20 kilograms.
As shown in fig. 2, the power controller 18 at least includes a storage battery or super capacitor temperature monitoring module, a storage battery or super capacitor electric quantity monitoring module, a storage battery or super capacitor charging and discharging management module, a fuel cell stack temperature monitoring module, a fuel cell stack power generation control module, a fuel cell stack gas pressure detection module, and a comprehensive power management module. The temperature monitoring module receives the output of a plurality of temperature sensors in the fuel cell stack, the storage battery or the super capacitor as the input of the module, namely, the temperature sensors are arranged in the fuel cell stack, the storage battery or the super capacitor, and the temperature monitoring module monitors whether the fuel cell stack, the storage battery or the super capacitor normally operates according to the temperature in the fuel cell stack, the storage battery or the super capacitor group acquired by the temperature sensors, alarms when the temperature is overhigh and abnormal, and timely reduces the output power, the charging and discharging power and the like. The storage battery or super capacitor electric quantity monitoring module, the storage battery or super capacitor charge-discharge management module receive the output of the voltage sensor in the storage battery or super capacitor as the input of the module, wherein the output of the charge-discharge management module is a control signal for the charge-discharge switch, the modules monitor the electric quantity of the storage battery or super capacitor through a plurality of voltage sensors in the storage battery or super capacitor, and when the electric quantity of the storage battery or super capacitor is reduced or too low, the discharge speed is reduced, and meanwhile, the power generation power of the fuel cell stack is increased to charge the storage battery or super capacitor group. The fuel cell stack gas pressure detection module receives the output of a gas pressure sensor in the fuel cell stack as the input of the module, the fuel cell stack power generation control module receives the output of the comprehensive power management module as the input of the module, the output of the module is a control signal for a fuel gas regulating valve, and the power generation power of the hydrogen cell stack is regulated by controlling the gas inflow, the catalytic speed and the like of hydrogen.
The operating principle and the process of the tethered unmanned aerial vehicle energy system based on the fuel cell stack are as follows:
when the unmanned aerial vehicle is stored, the storage battery or the super capacitor bank 14 needs to be kept at an electric quantity not lower than 30%, and before the unmanned aerial vehicle starts to work, the storage battery or the super capacitor bank 14 needs to be charged at first to reach an electric quantity of more than 90%. At the initial start-up stage of the drone, the storage battery or super capacitor bank 14 starts to supply power to the entire power controller 18 and the flight control system. After the flight control system receives a takeoff instruction, the power controller 18 starts the fuel cell stack 16 through the power generation control module to start power generation. Meanwhile, the power controller 18 monitors the power generation condition of the fuel cell stack 16 through the power monitoring module, and when the fuel cell 16 reaches the rated power generation power, the flight control system controls the unmanned aerial vehicle to take off and continuously increase the power generation power of the fuel cell stack 16; after the unmanned aerial vehicle stably flies to reach the designated height, the power controller 18 adaptively adjusts the generated power of the fuel cell 16 to charge the storage battery or the super capacitor bank 14 according to the output of the electric quantity monitoring module of the storage battery or the super capacitor bank 14. In the whole flight process, the energy system supplies fuel gas to the system through the composite hollow light composite fuel gas conveying pipe 11, and transmits system information and information obtained by the airborne sensor to the ground control system 13 through the communication optical fiber 12.
After the unmanned aerial vehicle system receives the descending instruction, the flight control system gradually reduces the power of the unmanned aerial vehicle, the power controller 18 reduces the output power of the power generation of the fuel cell 16, and the unmanned aerial vehicle starts descending until the unmanned aerial vehicle stops stably. The fuel cell 16 continues to step down the generated power until power generation is stopped and the rotor of the drone stops rotating. If the unmanned aerial vehicle meets unexpected circumstances in the flight process, for example, the composite fuel gas delivery pipe is broken by external force, and the supply of hydrogen is interrupted. At this moment, the power controller 6 monitors that the generated power of the fuel cell 16 rapidly descends, the power control system immediately and automatically switches to the storage battery or the super battery pack 16 to supply power to the whole aircraft system, and simultaneously informs the flight control system of the unmanned aerial vehicle to start the descending program of the aircraft, so that the aircraft descends stably until the aircraft safely falls to the ground.
The above embodiments are not intended to be exhaustive or to limit the invention to other embodiments, and the above embodiments are intended to illustrate the invention and not to limit the scope of the invention, and all applications that can be modified from the invention are within the scope of the invention.
Claims (10)
1. The energy supply system for the staying unmanned aerial vehicle is characterized by comprising a fuel cell stack, a storage battery or a super capacitor, a power controller, a composite fuel gas delivery pipe, a fuel gas storage device and a ground control system, wherein the fuel cell stack, the storage battery or the super capacitor and the power controller are arranged on the unmanned aerial vehicle;
in the initial starting stage of the unmanned aerial vehicle, the storage battery or the super capacitor starts to supply power to the whole power controller and the flight control system; after the flight control system receives a takeoff instruction, the power supply controller starts the fuel cell stack through the fuel cell stack power generation control module to start power generation;
when the power controller monitors that the power generation power of the fuel cell stack rapidly descends, the power control system immediately and automatically switches the power supply to the storage battery or the super capacitor to supply power to the whole unmanned aerial vehicle system, and simultaneously informs the flight control system of the unmanned aerial vehicle to start the descending program of the unmanned aerial vehicle, so that the unmanned aerial vehicle descends stably until the unmanned aerial vehicle safely lands on the ground;
the composite fuel gas conveying pipe is provided with a communication optical fiber which is connected with a ground control system, an unmanned aerial vehicle flight control system and an unmanned aerial vehicle load system; the outside of the composite fuel gas conveying pipe is provided with reinforced fibers which are wound around a pipe;
the power controller at least comprises a storage battery or super capacitor temperature monitoring module, a storage battery or super capacitor electric quantity monitoring module, a storage battery or super capacitor charging and discharging management module, a fuel cell stack temperature monitoring module, a fuel cell stack power generation control module, a fuel cell stack gas pressure detection module and a comprehensive power management module;
the integrated power management module: according to flight power parameters provided by an unmanned aerial vehicle flight control system, the current charging demand of a storage battery or a super capacitor, the current power generation power of a fuel cell stack and the current electric quantity parameters of the storage battery or the super capacitor, the optimal operation parameters of each module of a power supply are comprehensively calculated, so that the power generation power and the charging and discharging power of the fuel cell stack are managed through each management module;
temperature and voltage sensors are arranged in the storage battery or the super capacitor; and a temperature sensor, an air pressure sensor, an air inlet valve and a water drain valve are arranged in the fuel cell stack.
2. The tethered drone energy supply system of claim 1, wherein the battery or supercapacitor temperature monitoring module: the storage battery or the super capacitor is composed of a plurality of battery or super capacitor units, the storage battery or the super capacitor temperature monitoring module is arranged in the storage battery or the super capacitor, namely a plurality of temperature sensors are arranged among the plurality of battery units or the super capacitor units, and the storage battery or the super capacitor temperature monitoring module monitors whether the storage battery or the super capacitor normally operates according to the temperature of the storage battery or the super capacitor acquired by the transmission of the plurality of temperature sensors, and alarms and reduces the output power when the temperature is overhigh and abnormal.
3. The energy supply system of claim 1, wherein the storage battery or super capacitor power monitoring module obtains the voltage of each unit of the storage battery or super capacitor, monitors whether the storage battery or super capacitor is operating normally, and alarms and reduces the output power when the power is too low and abnormal, and meanwhile, the storage battery or super capacitor power monitoring module increases the power generated by the hydrogen stack to charge the storage battery or super capacitor through the integrated power management module when the power of the storage battery or super capacitor is rapidly reduced.
4. The tethered drone energy supply system of claim 1, wherein the battery or supercapacitor charge-discharge management module: the charging and discharging current of the storage battery or the super capacitor is adjusted by adjusting the power generation power of the fuel cell stack, meanwhile, the current required by current charging is calculated by the storage battery or super capacitor charging and discharging management module by monitoring the charging current and the charging time, and the power generation power of the hydrogen cell stack is adjusted in time after the power requirement is met and fed back by the storage battery or super capacitor power monitoring module, so that the charging is stopped.
5. The tethered drone energy supply system of claim 1, wherein the fuel cell stack temperature monitoring module: through a plurality of temperature sensor that set up in the fuel galvanic pile, control the inside temperature of fuel galvanic pile at operation in-process galvanic pile, fuel galvanic pile temperature monitoring module adjusts the radiator fan's of galvanic pile rotational speed according to the height of temperature in the galvanic pile, and when the high temperature, reinforcing initiative radiator fan's power when the temperature is too high, when the temperature is lower or in reasonable temperature range, reduces initiative radiator fan's power, practices thrift power consumption.
6. The tethered drone energy supply system of claim 1, wherein the fuel cell power generation control module: according to the power demand that battery or super capacitor charge-discharge management module and unmanned aerial vehicle flight control system provided, fuel cell stack electricity generation control module synthesizes the generated power of adjusting fuel cell stack through the gaseous air input of the combustible gas of adjusting fuel cell stack to when needing maximum power electricity generation, increase initiative radiator fan's power, with the oxygen that improves more and better heat dissipation.
7. The tethered drone energy supply system of claim 1, wherein the fuel cell stack gas pressure detection module: the pressure of combustible gas inside the fuel galvanic pile in the operation process of the fuel galvanic pile is monitored through one or more pressure sensors arranged in the fuel galvanic pile, and a pressure release valve of the fuel galvanic pile is adjusted by a fuel galvanic pile gas pressure monitoring module according to the gas pressure in the galvanic pile, so that the pressure is actively released when the pressure is too high, and the normal operation of the fuel galvanic pile is maintained.
8. The energy supply system of claim 1, wherein the ground end of the composite fuel gas delivery pipe is provided with a multi-way valve for connecting the composite fuel gas delivery pipe and the fuel gas storage device or the fuel gas generating device, wherein the multi-way valve is used for connecting a plurality of fuel gas storage devices or gas generating devices, so that the fuel gas stack has a stable gas source without affecting the delivery of the fuel gas.
9. The tethered unmanned aerial vehicle energy supply system of claim 1, wherein the unmanned aerial vehicle end of the composite fuel gas delivery line is provided with an electrically controlled valve for connecting the composite fuel gas delivery line and the fuel cell stack, wherein the electrically controlled valve is controlled by the fuel cell stack power generation control module to regulate the flow of fuel gas into the fuel cell stack so that the fuel cell stack generates power according to the calculated power generation requirement of the integrated power management module.
10. The tethered drone energy supply system of claim 1, wherein the fuel cell stack is an electrochemical power generation device that converts chemical energy in the fuel gas to electrical energy through oxidation-reduction reactions; the fuel gas is hydrogen gas, butane gas, propane gas or methane gas.
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| CN108473209B (en) * | 2017-10-26 | 2021-08-24 | 深圳市大疆创新科技有限公司 | Control method, control equipment, unmanned aerial vehicle, charging base station and system |
| CN110127063B (en) * | 2018-02-02 | 2022-11-01 | 武汉众宇动力***科技有限公司 | Unmanned aerial vehicle power system and control method thereof |
| CN108750136B (en) * | 2018-04-27 | 2020-05-22 | 北京航空航天大学 | Vehicle-mounted mooring unmanned aerial vehicle system and energy supply method thereof |
| WO2020067026A1 (en) * | 2018-09-26 | 2020-04-02 | 株式会社ナイルワークス | Drone system, drone, drone system control method, and drone system control program |
| CN109301900A (en) * | 2018-10-23 | 2019-02-01 | 安徽佳讯皖之翼科技有限公司 | A kind of certainly cooling power module of unmanned plane |
| CN109808884A (en) * | 2019-03-25 | 2019-05-28 | 朱彬 | It is tethered at unmanned plane |
| CN110294139A (en) * | 2019-07-01 | 2019-10-01 | 深圳市科卫泰实业发展有限公司 | It is a kind of to be tethered at UAV system without airborne large power supply |
| CN110963067A (en) * | 2019-12-12 | 2020-04-07 | 北京中航智科技有限公司 | Fuel conveying method of mooring unmanned aerial vehicle system and mooring unmanned aerial vehicle system |
| CN112038665B (en) * | 2020-09-17 | 2021-07-13 | 广州鼎奥科技有限公司 | Fuel cell group for unmanned aerial vehicle |
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| US20110180667A1 (en) * | 2009-03-10 | 2011-07-28 | Honeywell International Inc. | Tether energy supply system |
| CN104670516B (en) * | 2015-02-15 | 2016-07-06 | 南京理工大学 | The quick lifting gear of aircraft |
| CN105109704B (en) * | 2015-09-02 | 2018-06-08 | 南京国业科技有限公司 | A kind of mooring system based on more rotor flying platforms |
| CN205906226U (en) * | 2016-07-06 | 2017-01-25 | 北京晟泽科技有限公司 | A new forms of energy hybrid power supply system for high altitude unmanned aerial vehicle |
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