CN110242470B - Starting and power generation integrated system for oil-electricity hybrid unmanned aerial vehicle and control method - Google Patents
Starting and power generation integrated system for oil-electricity hybrid unmanned aerial vehicle and control method Download PDFInfo
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- CN110242470B CN110242470B CN201910460815.0A CN201910460815A CN110242470B CN 110242470 B CN110242470 B CN 110242470B CN 201910460815 A CN201910460815 A CN 201910460815A CN 110242470 B CN110242470 B CN 110242470B
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- 238000010248 power generation Methods 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 50
- 238000011217 control strategy Methods 0.000 claims description 42
- 239000007858 starting material Substances 0.000 claims description 28
- 230000005389 magnetism Effects 0.000 claims description 15
- 230000003313 weakening effect Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 230000004907 flux Effects 0.000 claims description 6
- 239000000446 fuel Substances 0.000 abstract description 2
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 238000006243 chemical reaction Methods 0.000 description 9
- 230000005284 excitation Effects 0.000 description 6
- 230000006641 stabilisation Effects 0.000 description 5
- 238000011105 stabilization Methods 0.000 description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 229910052744 lithium Inorganic materials 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000000087 stabilizing effect Effects 0.000 description 3
- HEZMWWAKWCSUCB-PHDIDXHHSA-N (3R,4R)-3,4-dihydroxycyclohexa-1,5-diene-1-carboxylic acid Chemical compound O[C@@H]1C=CC(C(O)=O)=C[C@H]1O HEZMWWAKWCSUCB-PHDIDXHHSA-N 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000005415 magnetization Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
- F02N11/00—Starting of engines by means of electric motors
- F02N11/08—Circuits or control means specially adapted for starting of engines
- F02N11/0859—Circuits or control means specially adapted for starting of engines specially adapted to the type of the starter motor or integrated into it
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
- F02N11/00—Starting of engines by means of electric motors
- F02N11/08—Circuits or control means specially adapted for starting of engines
- F02N11/0862—Circuits or control means specially adapted for starting of engines characterised by the electrical power supply means, e.g. battery
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/008—Arrangements for controlling electric generators for the purpose of obtaining a desired output wherein the generator is controlled by the requirements of the prime mover
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02N—STARTING OF COMBUSTION ENGINES; STARTING AIDS FOR SUCH ENGINES, NOT OTHERWISE PROVIDED FOR
- F02N11/00—Starting of engines by means of electric motors
- F02N11/04—Starting of engines by means of electric motors the motors being associated with current generators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2101/00—Special adaptation of control arrangements for generators
- H02P2101/30—Special adaptation of control arrangements for generators for aircraft
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- General Engineering & Computer Science (AREA)
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- Control Of Eletrric Generators (AREA)
Abstract
A starting and power generation integrated system for an oil-electricity hybrid unmanned aerial vehicle and a control method thereof comprise an engine, a starting generator and a bidirectional PWM (pulse width modulation) rectification circuit connected with the unmanned aerial vehicle, wherein the engine is connected with the starting generator, and the starting generator is connected with the bidirectional PWM rectification circuit; the bidirectional PWM rectification circuit is also connected with a battery and a controller. The invention realizes the starting control of the engine and the rectifying and voltage-stabilizing control of the generator by adopting the bidirectional PWM rectifying circuit and efficiently utilizing the power converter and the generator inductance without adding other functional modules. The hybrid unmanned aerial vehicle can carry more fuel, and the endurance time of the hybrid unmanned aerial vehicle is greatly prolonged.
Description
Technical Field
The patent relates to the technical field of unmanned aerial vehicles, in particular to a starting and power generation integrated system and a control method for an oil-electricity hybrid unmanned aerial vehicle.
Background
Hybrid unmanned aerial vehicle receives more and more attention in industrial level unmanned aerial vehicle application. The core technology of the hybrid unmanned aerial vehicle is a power generation system composed of an engine, a starter generator and the like. The starting generator power conversion circuit system of the engine on the existing oil-electricity hybrid unmanned aerial vehicle is too complicated, and when the starting generator power conversion circuit system is applied to the unmanned aerial vehicle, the power supply performance is greatly discounted.
For example, the flexibility is reduced by adopting a scheme of starting by a ground starter and then supplying power to a generator set; if the output power supply scheme of the uncontrolled rectification and DCDC voltage stabilizing circuit is adopted, too many links are adopted, the weight is increased, and the efficiency is reduced.
In the hybrid unmanned aerial vehicle industry, a starter generator generally adopts a permanent magnet motor, but the permanent magnet motor cannot adjust excitation, and the counter electromotive force during power generation is in a proportional relation with the rotating speed of an engine. The voltage of the engine fluctuates at any moment when the power generated by the starter generator changes, and the stable voltage is the premise for realizing the stable flight control for unmanned aerial vehicle control. Aiming at the problems, the traditional solution method is to adopt three-phase uncontrolled rectification and output direct current with fluctuating voltage, and a DC/DC voltage-stabilizing three-phase uncontrolled rectification is added in the later stage to realize voltage control. However, the use of three-phase uncontrolled rectification and DC/DC increases losses and complicates the structure.
Disclosure of Invention
The invention aims to provide a starting and power generation integrated system for an oil-electricity hybrid unmanned aerial vehicle and a control method.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a starting and power generation integrated system for a gasoline-electricity hybrid unmanned aerial vehicle comprises an engine, a starting generator and a bidirectional PWM (pulse width modulation) rectification circuit connected with the unmanned aerial vehicle, wherein the engine is connected with the starting generator, and the starting generator is connected with the bidirectional PWM rectification circuit; the bidirectional PWM rectification circuit is also connected with a battery and a controller.
The invention is further improved in that the battery is connected with the bidirectional PWM rectification circuit through the bidirectional DC/DC converter.
A further improvement of the invention is that the bidirectional PWM rectifier circuit comprises six groups of power MOSFETs connected in the form of a three-phase half-bridge.
The invention has the further improvement that the invention also comprises a voltage and current sensor for collecting three-phase voltage and current signals and direct current bus voltage and current signals; six groups of power MOSFETs are connected with the driving module, and the voltage and current sensors and the driving module are connected with the controller.
A control method based on the starting and power generation integrated system for the oil-electricity hybrid unmanned aerial vehicle comprises the following steps:
1) when starting, the engine is dragged to an ignition working point by using a starter generator, and then a spark plug of the engine is electrified to perform ignition operation; the controller generates an SVPWM three-phase bridge modulation signal by adopting a double closed-loop control strategy and a vector control algorithm of a rotating speed outer loop current inner loop according to a three-phase voltage current signal detected by the voltage current sensor, and outputs the SVPWM three-phase bridge modulation signal to the driving module, the driving module drives the bidirectional PWM rectifying circuit, the bidirectional PWM rectifying circuit drives the starter generator, and the starter generator drives the engine to start;
2) during power generation, the starter generator is driven by the engine to generate alternating current, the controller generates an SVPWM three-phase bridge modulation signal according to three-phase voltage and current signals of the alternating current detected by the voltage and current sensor and by adopting a double closed loop control strategy and a vector control algorithm of a voltage outer loop and a voltage current inner loop, and power generation is realized.
The further improvement of the invention is that in the step 2), when the vector control algorithm is carried out, a magnetism increasing control strategy, a magnetism weakening control strategy or I is adopted according to different engine rotating speedsdAnd (3) generating an SVPWM three-phase bridge modulation signal according to a control strategy of 0, and outputting the SVPWM three-phase bridge modulation signal to a bidirectional PWM rectifying circuit, wherein the bidirectional PWM rectifying circuit outputs stable 24V direct-current voltage and drives a rotor motor of the unmanned aerial vehicle.
The invention is further improved in that a magnetism increasing control strategy, a magnetism weakening control strategy or I is adopted according to different engine rotating speedsdThe specific process of the control strategy is as follows:
2) when the engine speed is higher than the desired upper limit ωmaxWhen the magnetic field is weak, a weak magnetic control strategy is adopted;
2) when the engine speed is lower than the lower limit omega of the expected speedminThen, a magnetism increasing control strategy is adopted;
3) when the engine speed is at the desired upper speed limit ωmaxWith a desired lower speed limit ωminIn the meantime, adopt IdControl strategy is 0.
A further development of the invention is that the starting is switched to the generation when the dc bus current crosses zero.
Compared with the prior art, the invention has the beneficial effects that:
the invention realizes the starting control of the engine and the rectifying and voltage-stabilizing control of the generator by adopting the bidirectional PWM rectifying circuit and efficiently utilizing the power converter and the generator inductance without adding other functional modules. Like this power conversion circuit is equivalent to the 2/3 of the weight and the volume of uncontrollable rectification with DCDC converter scheme, and power flow in-process electrical loss will reduce original 1/2, can make the hybrid unmanned aerial vehicle of oil and electricity carry more fuel like this, and unmanned aerial vehicle's duration will improve greatly. The system of the invention has simple structure, does not increase extra loss and realizes the stable control of voltage.
When the engine for the hybrid unmanned aerial vehicle is started, the vector control algorithm is adopted for the starting generator, so that the reliability and the stability of the starting of the engine are improved. When the invention is used for generating electricity, the engine can be stably dragged to the starting rotating speed to reach the ignition working point of the engine due to the adoption of the double closed loop control strategy of the rotating speed outer loop and the torque inner loop. The vector control algorithm is adopted, so that the response speed is high, the reliability is high, and the starting success rate of the engine is high. The invention adopts a bidirectional PWM rectification control strategy, thereby realizing the starting function of the engine and also realizing the rectification and the stabilization of the direct current voltage to the rated power supply voltage of the rotor motor of the unmanned aerial vehicle during power generation. Compare in traditional power generation system that starts, hardware integration degree and high-usage, greatly reduced unmanned aerial vehicle self weight, and then can widen oil-electricity hybrid unmanned aerial vehicle's on-load ability and time of endurance. The invention provides a set of complete design scheme for the design of the PWM rectification circuit which can realize starting and power generation voltage stabilization, and can be applied to hybrid unmanned aerial vehicles of different types and different power levels.
Furthermore, when the engine of the hybrid unmanned aerial vehicle drives the starting generator to generate power, three different excitation current control methods are adopted according to different rotating speed ranges to act on the bidirectional PWM rectifier, so that the voltage output by rectification is not influenced by the rotating speed fluctuation of the engine and is maintained at a stable rated voltage of 24V, and the stable power supply voltage ensures the reliable control of the flight attitude of the unmanned aerial vehicle.
Furthermore, compared with a starting power generation voltage stabilization system for realizing the engine of the hybrid unmanned aerial vehicle by a plurality of discrete modules, the power loss is only concentrated on the bidirectional PWM rectification circuit, so that the overall efficiency is greatly improved, and the power density of the power supply module is improved.
Drawings
FIG. 1 is a schematic overview of a starting power generation system.
FIG. 2 is a PWM rectifier circuit diagram of the present invention.
Fig. 3 is a flowchart of the start power generation control of the present invention.
Fig. 4 is a block diagram of the starting power generation control of the present invention.
Fig. 5 is a vector diagram of the power generation process of the present invention. Wherein, (a) is weak magnetic control, and (b) is magnetization control.
In the figure, 1 is a generator, 2 is a starting engine, 3 is a bidirectional PWM rectifier circuit, 4 is a rotor motor, 5 is a bidirectional DC/DC converter, 6 is a lithium battery, 7 is a voltage current sensor, 8 is a driving module, 9 is a controller, 10 is a PI controller, 11 is a generated voltage PI controller, 12 is a Id ═ 0 controller, 13 is a generated flux weakening controller, 14 is a generated flux increasing controller, 15 is an SVPWM module, and 16 is an inner ring PI controller.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1, the starting and power generation integrated system for the oil-electricity hybrid unmanned aerial vehicle comprises an engine 1, a starting generator 2, a bidirectional PWM rectification circuit 3, a bidirectional DC/DC converter 5, a lithium battery 6 and an unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a rotor motor 4; the engine 1 is connected with the starter generator 2, the starter generator 2 is connected with the bidirectional PWM rectifying circuit 3, and the bidirectional PWM rectifying circuit 3 is connected with the rotor motor 4 of the unmanned aerial vehicle. The lithium battery 6 is connected with the bidirectional PWM rectification circuit 3 through the bidirectional DC/DC converter 5 and is used as an energy source during starting.
The bidirectional PWM rectification circuit 3 is connected to a controller 9. Referring to fig. 2, the bidirectional PWM rectifier circuit 3 is connected by six power MOSFETs in the form of a three-phase half bridge, and one end of the bidirectional PWM rectifier circuit 3 is connected to the starter generator, and the other end is connected to the lithium battery 6 and the unmanned aerial vehicle. Three-phase voltage and current signals and bus voltage and current signals are acquired through a voltage and current sensor 7, and six groups of power MOSFETs are connected with a driving module 8. The voltage and current sensor 7 and the driving module 8 are both connected with a controller 9.
Referring to fig. 3 and 4, the control method of the present invention mainly comprises two processes, specifically as follows:
1) when starting, the engine is dragged to an ignition working point by using the electric performance of the starter generator, and then the spark plug of the engine is electrified to perform ignition operation. The ignition working point is the lowest rotating speed at which the engine can successfully ignite and the stroke continuously works. According to the three-phase voltage and current signals, the position and the rotating speed detected by the voltage and current sensor, the controller adopts a double closed loop control strategy and a vector control algorithm of a rotating speed outer loop current inner loop to generate SVPWM three-phase bridge modulation signals, the SVPWM three-phase bridge modulation signals are output to a driving module of a bidirectional PWM rectifying circuit, the driving module drives six groups of power MOSFETs, the bidirectional PWM rectifying circuit drives a starter generator, and the starter generator drives an engine to start. The algorithm of double closed-loop control and vector control of the inner loop of the outer loop current of the rotating speed is shown in fig. 4, and specifically comprises the following steps:
firstly, when the bus current is judged to be positive, the control system is switched to a starting control stage. The control system converts the detected current information in the three-phase static coordinate system into a dq axis coordinate system through Clark conversion and Park conversion, and decoupling of a torque component Iq and a flux linkage component Id in the current signal is achieved. In the starting mode of operation, the rotational speed is controlled as an outer loop of a double closed-loop control. The rotating speed is set as the rotating speed for successfully igniting the starting engine, the PI controller 10 performs rotating speed PI control according to rotating speed feedback information, the output of the rotating speed PI control is used as the given value of Iq current inner loop control, the Iq feedback information is obtained by the vector coordinate transformation, and the inner loop PI controller 16 performs inner loop PI control; another closed-loop control is control of a flux linkage component Id in the current component, wherein a control strategy of Id-0 is performed by using an Id-0 controller 12, and an Id feedback signal and a given signal difference value are subjected to PI control; and then the output of the two parts is subjected to reverse Clark conversion, and the result is used as the input of the SVPWM module 15 to generate a signal of a space vector pulse width modulation driving power mos tube.
At start-up, the energy flow is: the electric energy passes through a battery, a bidirectional PWM rectification circuit and a starter generator to drive the engine. The bus current flow direction is positive at this time.
The invention adopts a double closed loop control strategy of the rotating speed outer loop torque inner loop, so that the engine can be stably dragged to the starting rotating speed to reach the ignition working point of the engine. The vector control algorithm is adopted, so that the response speed is high, the reliability is high, and the starting success rate of the engine is high.
2) During power generation, the starter generator is driven by the engine to generate alternating current, and the controller generates an SVPWM three-phase bridge modulation signal according to three-phase voltage current signals, positions and rotating speeds of the alternating current detected by the voltage current sensor and by adopting a double closed-loop control strategy and a vector control algorithm of a voltage outer loop and a voltage current inner loop.
When the vector control algorithm is carried out, a magnetism increasing control strategy, a magnetism weakening control strategy and I are adopted according to different engine rotating speedsdThree different control strategies (exciting current is equal to zero) generate SVPWM driving signals, the driving signals generated by the SVPWM are output to a bidirectional PWM rectifying circuit, the bidirectional PWM rectifying circuit outputs stable 24V direct-current voltage and drives a rotor motor of the unmanned aerial vehicle, and permanent magnet motor magnetic field control and rectification voltage stabilization control are achieved. The voltage and current double closed loop and vector control algorithm in the power generation process is shown in fig. 4, and specifically comprises the following steps:
on the basis of a dq axis coordinate system in a starting process control algorithm, aiming at the power generation process, different control strategies are adopted; firstly, when the bus current is changed from positive zero crossing to negative, the control state is switched from starting to generating; judging which mode of power generation control strategy is adopted according to the rotating speed, wherein when the rotating speed omega of the engine is higher than the upper limit omega of the expected rotating speedmaxIf the Id control is given as Id f1(ω), and PI control parameters corresponding to the power generation flux weakening controller 13 are designed; when the engine speed omega is lower than the lower limit omega of the expected speedminIf the Id control is given, the Id is f2(ω), and the corresponding PI control parameter of the power generation and magnetization increasing controller 14 is designed; when the engine speed omega is at the desired upper speed limit omegamaxWith a desired lower speed limit ωminIn between, Id control is given by Id ═0, and designing corresponding PI control parameters of the controller 12, wherein Id is 0; for the control of the voltage loop, a control strategy of an outer voltage loop and an inner torque current Iq loop is adopted, the given voltage is set according to the voltage requirement output by an actual system, the given voltage and the actual detection voltage are subjected to PI control through a power generation voltage PI controller 11, the given voltage and the actual detection voltage are output as the given torque current Iq, and PI control is carried out through an inner loop PI controller 16 according to the Iq actual current information after vector decoupling; and finally, performing reverse Clark conversion on the outputs of the two rings, and outputting the outputs to the SVPWM module 15 to generate space vector pulse width modulation signals.
Adopting a magnetism increasing control strategy, a magnetism weakening control strategy and IdThe reason why the field control and the rectification voltage stabilization control of the permanent magnet motor are realized by three different control strategies, namely 0 (the exciting current is equal to zero), is as follows:
fig. 5 shows a phasor diagram at the time of power generation of a starter generator, in which a voltage phasor (U), a current phasor (I), d-axis and q-axis current phasors (Id, Iq), and a rotary electromotive force phasor (E) satisfy the following relationship, where R, xd, and xq are an armature winding resistance, a direct-axis reactance, and a quadrature-axis reactance, respectively.
U＝E+IR+jxdId+jxqIq(1)
I＝Id+jIq(2)
As can be seen from (a) in fig. 5, when the starter generator operates in the low speed region, the magnitude of the rotary electromotive force is small, and then a positive id is fed, and the d-axis armature reaction electromotive force is in the same direction as the rotary electromotive force, so as to maintain the output voltage of the armature winding to be stable. As shown in (b) of fig. 5, when the permanent magnet ac generator operates at a high speed region, the rotary electromotive force is large, and at this time, the fed negative id, d-axis armature reaction electromotive force counteracts the rotary electromotive force in the opposite direction, and the output voltage continues to be maintained stable. In a physical sense, this can also be understood as: when the generator works in a low-speed region, the positive value id generates magnetomotive force in the same direction as the permanent magnet excitation, and the air gap magnetic field is enhanced, so that the output voltage of the generator is raised to an expected voltage stabilizing value. On the contrary, when the generator works in a high-speed region, the negative value id generates magnetomotive force in the direction opposite to the permanent magnet excitation direction, and the air gap magnetic field is weakened, so that the output voltage of the generator is reduced to an expected voltage stabilizing value.
During power generation, the energy flow direction is as follows: after the engine is started, the energy drives the starter generator to generate electricity by the engine, and stable direct-current voltage is generated through the bidirectional PWM rectifying circuit to supply power to the rotor motor of the unmanned aerial vehicle.
According to different engine speeds, a magnetism increasing control strategy, a magnetism weakening control strategy or I is adopteddThe specific process of generating the SVPWM three-phase bridge modulation signal is as follows, which is one strategy of 0 (excitation current is equal to zero):
3) when the engine speed omega is higher than the desired upper speed limit omegamaxWhen the magnetic field is weak, a weak magnetic control strategy is adopted;
2) when the engine speed omega is lower than the lower limit omega of the expected speedminThen, a magnetism increasing control strategy is adopted;
3) when the engine speed omega is at the desired upper speed limit omegamaxWith a desired lower speed limit ωminIn the meantime, a control strategy that the exciting current is equal to zero is adopted;
aiming at the characteristic of wide rotating speed range fluctuation of the engine, weak magnetic control, magnetizing control and I are respectively adopted for different rotating speed rangesdDifferent control strategies-0 (excitation current equal to zero) can solve the problem that the rectified voltage fluctuates with the engine speed.
When the bus current crosses zero, the starting is switched to the power generation.
When the engine is started, the current flow of the bus is positive, namely i is greater than 0; when the engine is ignited successfully, the engine is in a power generation state, the bus current is output from the rectification current end, and the bus current flow direction becomes negative, namely i is less than 0; therefore, during the switching process between starting and power generation, the bus current zero crossing point, i is 0, is used as a switching mark.
The invention can be applied to starting power generation systems with different power levels; aiming at the application occasions that the hybrid unmanned aerial vehicle has severe requirements on weight, the engine adopts a two-stroke engine with the highest power density, a starter generator and a bidirectional PWM (pulse width modulation) rectification circuit are designed to meet the requirement of matching with the performance of the engine, wherein the most core three parameters are as follows: one is the starting maximum torque of the engine; the second is the rotating speed working range of the engine; and thirdly, the rated output power of the engine. Starting from the three parameters, the parameters of the starting generator are reasonably designed, and a matched bidirectional PWM (pulse width modulation) rectifying circuit is designed, so that the two steps of starting and generating can be completed; the core parameters of the bidirectional PWM rectifying circuit needing to be matched are withstand voltage grade and current capacity, which respectively correspond to high voltage during power generation and high current during starting. The specific overall design method of the starter generator and the bidirectional PWM driving circuit is as follows: firstly, designing a reasonable starter generator according to the starting torque and the working rotating speed range of the engine, wherein the design parameters comprise the counter electromotive force coefficient, the maximum rotating speed and the starting current of the starter generator. Calculating the through-current requirement and the voltage withstanding capability of a power MOSFET in the bidirectional PWM rectifier according to the working rotating speed and the starting torque of the engine and the parameters of a starter generator; and finally, selecting a proper model from the existing power MOSFET device. According to actual requirements, a 2-time allowance is needed to be left for through current and withstand voltage. When the current capacity of the existing power MOSFET device cannot meet the requirement, the capacity is amplified by adopting a double-tube parallel connection mode.
Claims (6)
1. A starting and power generation integrated system for a gasoline-electricity hybrid unmanned aerial vehicle is characterized by comprising an engine, a starting generator and a bidirectional PWM (pulse width modulation) rectification circuit connected with the unmanned aerial vehicle, wherein the engine is connected with the starting generator, and the starting generator is connected with the bidirectional PWM rectification circuit; the bidirectional PWM rectification circuit is also connected with a battery and a controller;
the battery is connected with the bidirectional PWM rectifying circuit through the bidirectional DC/DC converter;
the bidirectional PWM rectification circuit comprises six groups of power MOSFETs which are connected in the form of three-phase half-bridge.
2. The starting and power generation integrated system for the hybrid unmanned aerial vehicle as claimed in claim 1, further comprising a voltage and current sensor for collecting three-phase voltage and current signals and direct current bus voltage and current signals; six groups of power MOSFETs are connected with the driving module, and the voltage and current sensors and the driving module are connected with the controller.
3. A control method for a starting and power generation integrated system for a hybrid unmanned aerial vehicle according to claim 2, comprising the steps of:
1) when starting, the engine is dragged to an ignition working point by using a starter generator, and then a spark plug of the engine is electrified to perform ignition operation; the controller generates an SVPWM three-phase bridge modulation signal by adopting a double closed-loop control strategy and a vector control algorithm of a rotating speed outer loop current inner loop according to a three-phase voltage current signal detected by the voltage current sensor, and outputs the SVPWM three-phase bridge modulation signal to the driving module, the driving module drives the bidirectional PWM rectifying circuit, the bidirectional PWM rectifying circuit drives the starter generator, and the starter generator drives the engine to start;
2) during power generation, the starter generator is driven by the engine to generate alternating current, the controller generates an SVPWM three-phase bridge modulation signal according to three-phase voltage and current signals of the alternating current detected by the voltage and current sensor and by adopting a double closed loop control strategy and a vector control algorithm of a voltage outer loop and a voltage current inner loop, and power generation is realized.
4. The control method of the starting and power generation integrated system for the hybrid unmanned aerial vehicle is characterized in that in the step 2), when a vector control algorithm is carried out, a magnetism increasing control strategy, a magnetism weakening control strategy or a control strategy that exciting current is equal to zero is adopted according to different engine rotating speeds to generate an SVPWM three-phase bridge modulation signal and output the SVPWM three-phase bridge modulation signal to a bidirectional PWM rectification circuit, and the bidirectional PWM rectification circuit outputs stable 24V direct-current voltage and drives a rotor motor of the unmanned aerial vehicle.
5. The control method of the starting and power generation integrated system for the hybrid unmanned aerial vehicle is characterized in that a specific process of adopting a magnetizing control strategy, a flux weakening control strategy or a control strategy that exciting current is equal to zero according to different engine speeds is as follows:
1) when the engine speed is higher than the desired upper limit ωmaxWhen the magnetic field is weak, a weak magnetic control strategy is adopted;
2) when the engine speed is lower than the lower limit omega of the expected speedminThen, a magnetism increasing control strategy is adopted;
3) when the engine speed is at the desired upper speed limit ωmaxWith a desired lower speed limit ωminAnd in the middle, a control strategy that the exciting current is equal to zero is adopted.
6. The control method of the integrated starting and power generation system for the hybrid unmanned aerial vehicle according to claim 5, wherein starting is switched to power generation when a direct current bus current crosses zero.
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| CN111446894A (en) * | 2020-03-13 | 2020-07-24 | 西安爱生无人机技术有限公司 | Unmanned aerial vehicle starting and power generation integrated control system and control method thereof |
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| CN110848067A (en) * | 2019-11-15 | 2020-02-28 | 天津沐航科技有限公司 | Method for starting engine of hybrid oil-electricity fixed wing unmanned aerial vehicle |
| CN111009992B (en) * | 2019-12-05 | 2021-05-28 | 北京动力机械研究所 | High-low voltage compatible built-in brushless direct current starting power generation system |
| CN114977646B (en) * | 2022-04-27 | 2024-04-16 | 西安德赛控制***有限责任公司 | Integrated control system with controllable output heavy current in big moment of torsion position |
| CN114759675B (en) * | 2022-04-27 | 2023-06-16 | 西安德赛控制***有限责任公司 | Modularized large-current parallel-connection starting integrated controller and control method |
| CN114718792A (en) * | 2022-04-27 | 2022-07-08 | 西安德赛控制***有限责任公司 | Starting integrated controller for realizing energy bidirectional flow and control method thereof |
| CN115234382B (en) * | 2022-07-07 | 2023-03-17 | 山东飞奥航空发动机有限公司 | Dual-mode control system and control method for heavy oil two-stroke engine of unmanned aerial vehicle |
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| CN202094756U (en) * | 2010-05-25 | 2011-12-28 | 泰豪科技股份有限公司 | Constant frequency constant voltage sine wave power machine formed by axle generator and inverter |
| CN105024582B (en) * | 2015-07-27 | 2018-08-21 | 江苏大学 | A kind of novel two-stage type bidirectional energy-storage converter control system and its control method |
| CN105553065B (en) * | 2016-02-29 | 2018-10-23 | 武汉理工大学 | The Energy Management System and method of composite energy storage unit peculiar to vessel |
| CN208040526U (en) * | 2018-03-23 | 2018-11-02 | 中科灵动航空科技成都有限公司 | For having the electric hybrid power system of the oil of monitoring function in unmanned plane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111446894A (en) * | 2020-03-13 | 2020-07-24 | 西安爱生无人机技术有限公司 | Unmanned aerial vehicle starting and power generation integrated control system and control method thereof |
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