CN116692059A - Energy optimization management method and distributed hybrid power system of unmanned aerial vehicle platform - Google Patents

Energy optimization management method and distributed hybrid power system of unmanned aerial vehicle platform Download PDF

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Publication number
CN116692059A
CN116692059A CN202310658420.8A CN202310658420A CN116692059A CN 116692059 A CN116692059 A CN 116692059A CN 202310658420 A CN202310658420 A CN 202310658420A CN 116692059 A CN116692059 A CN 116692059A
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power
energy storage
storage battery
energy
engine
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Inventor
朱炳杰
高显忠
刘多能
杨希祥
侯中喜
郭正
伍军
邓小龙
鲁亚飞
董兵
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National University of Defense Technology
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National University of Defense Technology
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/11—Propulsion using internal combustion piston engines
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Hybrid Electric Vehicles (AREA)

Abstract

The invention discloses an energy optimization management method and a distributed hybrid power system of an unmanned air vehicle platform, wherein the method calculates the power of a propulsion motor and the electric quantity of an energy storage battery according to the current of the energy storage battery; calculating first power of an engine for power propulsion of an unmanned aerial vehicle platform; adding the first power and the power of the propulsion motor to obtain the power requirement of a platform power system of the unmanned aerial vehicle platform; calculating the fuel consumption rate of the engine according to the power demand of the platform power system and the electric quantity of the energy storage battery; calculating a Hamiltonian according to the current of the energy storage battery and the fuel consumption rate of the engine; solving the minimum fuel consumption rate of the engine based on a Hamiltonian by adopting a Pang Teli-elegance Jin Jixiao value principle; constructing an optimization function of energy optimization management according to the minimum fuel consumption rate; and adjusting the output power of the engine and the propulsion motor based on an optimization function of energy optimization management. The invention can optimize energy management and improve energy utilization efficiency.

Description

Energy optimization management method and distributed hybrid power system of unmanned aerial vehicle platform
Technical Field
The invention relates to the technical field of energy management, in particular to an energy optimization management method and a distributed hybrid power system of an unmanned air vehicle platform.
Background
The distributed hybrid power system is a combination of dual power combining a traditional engine (piston engine, gas turbine engine) and a propulsion motor. The engine drives the generator to generate power while providing main thrust, and provides power for the propulsion motor together with the energy storage battery (such as a lithium battery) and drives the propeller by the propulsion motor to provide partial thrust for the platform, so that the purposes of improving the energy utilization efficiency and improving the aerodynamic effect of the aircraft are achieved. The distributed hybrid power system is a novel propulsion mode between the traditional engine and the full-electric propulsion system, and has become an important trend of current aviation power development.
The prior art is applied to a power system of a large unmanned aerial vehicle platform, and needs to be provided with a high-power engine system, so that the high-power requirements of the flying process such as short-distance take-off and climbing of the flying platform are met. After the flying platform enters cruise flat flight, the power to the power propulsion system is significantly reduced. In addition, the energy management method in the prior art causes great fuel consumption of the engine, can not well utilize energy, and causes certain energy waste.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides an energy optimization management method and a distributed hybrid power system of an unmanned air vehicle platform, which can optimize energy management and improve the energy utilization efficiency of the system.
In a first aspect, an embodiment of the present invention provides an energy optimization management method, where the energy optimization management method includes:
calculating the current of an energy storage battery, and calculating the power of a propulsion motor and the electric quantity of the energy storage battery according to the current of the energy storage battery;
calculating the output power of a generator according to the power of the propulsion motor;
calculating first power of the engine for power propulsion of the unmanned aerial vehicle platform according to the output power of the generator;
adding the first power and the power of the propulsion motor to obtain a platform power system power requirement of the unmanned aerial vehicle platform;
calculating the fuel consumption rate of the engine according to the power requirement of the platform power system and the electric quantity of the energy storage battery;
calculating a Hamiltonian according to the current of the energy storage battery and the fuel consumption rate of the engine;
solving the minimum fuel consumption rate of the engine based on the Hamiltonian by adopting a Pang Teli and Jin Jixiao value principle;
constructing an optimization function of energy optimization management according to the minimum fuel consumption rate;
and adjusting the output power of the engine and the propulsion motor based on an optimization function of the energy optimization management.
Compared with the prior art, the first aspect of the invention has the following beneficial effects:
according to the power demand of the platform power system and the electric quantity of the energy storage battery, the fuel consumption rate of the engine is calculated, the Hamiltonian is calculated according to the current of the energy storage battery and the fuel consumption rate of the engine, the minimum fuel consumption rate of the engine is solved based on the Hamiltonian by adopting the Pang Teli-Jin Jixiao value principle, the optimization function of energy optimization management is constructed according to the minimum fuel consumption rate, the output power of the engine and the propulsion motor is adjusted based on the optimization function of energy optimization management, the minimum fuel consumption rate of the engine is solved based on the Pang Teli-Jin Jixiao value principle, the minimum fuel consumption rate is used as the energy optimization management target, so that the optimization function of energy optimization management is constructed, the output power of the engine and the propulsion motor is adjusted based on the optimization function of energy optimization management, the energy management can be optimized, the energy utilization efficiency is effectively improved, and the voyage of the unmanned air platform is improved.
According to some embodiments of the invention, the calculating the current of the energy storage battery and calculating the power of the propulsion motor and the electric quantity of the energy storage battery according to the current of the energy storage battery comprises:
calculating the current of the energy storage battery by the following formula:
the power of the propulsion motor is provided by an energy storage battery, and the power of the propulsion motor is calculated according to the current of the energy storage battery:
P EM (t)＝V bat (t)·I bat (t)
calculating the electric quantity of the energy storage battery according to the current of the energy storage battery:
wherein ,Ibat (t) represents the current of the energy storage battery, E 0 Represents the open circuit voltage of the energy storage battery, R e Represents the internal resistance, P, of the energy storage battery bat (t) represents the charge/discharge power of the energy storage battery, P EM (t) represents the power of the propulsion motor, V bat (t) represents the voltage of the energy storage battery, and SOC (t) represents the electric quantity of the energy storage battery, SOC 0 Represents the initial electric quantity of the energy storage battery, ah nom Representing the capacity of the energy storage battery, t 0 Representing the start time of the current change of the energy storage battery, t representing the time variable of each change period.
According to some embodiments of the invention, the power of the generator is calculated by:
wherein ,Pgen (t) represents the output power of the generator, P EM (t) represents the power of the propulsion motor, and η represents the charge-discharge efficiency.
According to some embodiments of the invention, the first power of the engine for unmanned aerial vehicle platform power propulsion is calculated by:
P ICE,P (t)＝P ICE (t)-P gen (t)
wherein ,PICE (t) represents the total power demand of the engine, P ICE,P (t) represents the first power of the engine for unmanned aerial vehicle platform power propulsion, P gen (t) represents the output power of the generator.
According to some embodiments of the invention, the fuel consumption rate of the engine is calculated by:
wherein ,representing the fuel consumption rate of the engine, P (t) representing the platform powertrain power demand, SOC (t) representing the charge of the energy storage battery, and t representing a time variable.
According to some embodiments of the invention, the hamiltonian is calculated by:
wherein H represents a Hamiltonian,represents the fuel consumption rate of the engine, lambda (t) represents the Lagrangian multiplier, mu (t) represents the constraint of the battery SOC, I bat (t) represents the current of the energy storage battery, ah nom Representing the capacity of the energy storage cell.
According to some embodiments of the invention, an optimization function for energy optimization management is constructed by:
wherein J represents an optimization function of energy optimization management, m fuel Representing the fuel consumption of said engine, t 0 A start time, t, representing a change in power demand of the platform powertrain system f Representing the end time of the power demand change of the platform power system, and t represents the time variable of each change period.
According to some embodiments of the invention, the adjusting the output power of the engine and the propulsion motor based on the energy optimization management optimization function comprises:
based on the optimization function of the energy optimization management, when the power requirement of the flying platform is determined, if the electric quantity of the energy storage battery is higher than a preset value, increasing the output power of the propulsion motor and reducing the output power of the engine; and if the electric quantity of the energy storage battery is lower than the preset value, increasing the output power of the engine.
In a second aspect, an embodiment of the present invention further provides a distributed hybrid power system of an unmanned aerial vehicle platform, where the distributed hybrid power system is configured and installed by adopting a distributed method, and the distributed hybrid power system of the unmanned aerial vehicle platform includes:
the plurality of engines are connected with the first propeller through the output shaft of the generator, and are used for adjusting the output power of the engines according to the load size and driving the first propeller to provide thrust for the unmanned aerial vehicle platform;
a plurality of generators connected to the plurality of engines for converting a portion of the mechanical energy provided by the plurality of engines into electrical energy in the form of three-phase alternating current;
a plurality of AC/DC modules electrically connected to the plurality of generators for converting three-phase AC power of the plurality of generators to DC power;
the energy management module is electrically connected with the plurality of AC/DC modules and is used for obtaining direct currents output by the plurality of AC/DC modules and adjusting the output power of the plurality of engines and the output power of the plurality of propulsion motors according to the energy optimization management method;
the energy storage batteries are electrically connected with the energy management module and are used for storing direct current output by the energy management module and supplying power to the electric regulators;
the plurality of electric regulators are connected with the plurality of energy storage batteries and are used for driving the plurality of propulsion motors to regulate the speed;
the plurality of propulsion motors are connected with the second propeller and used for driving the second propeller to provide thrust for the unmanned aerial vehicle platform.
Compared with the prior art, the second aspect of the invention has the following beneficial effects:
the system adopts a distributed method for layout installation, so that the requirement of the unmanned aerial vehicle platform on the installation space can be reduced, the installation flexibility of other equipment of the unmanned aerial vehicle platform can be greatly improved, the system heat dissipation can be improved, the aerodynamic characteristics of the unmanned aerial vehicle platform can be improved, the lifting force can be improved, and the energy consumption of a distributed hybrid power system can be reduced; the multiple engines and the multiple generators are adopted to provide electric energy for the unmanned aerial vehicle platform, and when one of the engines fails or the output is limited, the other engines can continue to provide electric energy for the platform, so that the safety and reliability of the whole unmanned aerial vehicle platform are improved; the energy management module is electrically connected with the plurality of AC/DC modules and the plurality of energy storage batteries, so that the energy can be output to the load equipment in a multiplexing way to supply power, and the energy management module provides possibility for carrying out distributed layout installation on the load equipment of the distributed hybrid power system on the unmanned aerial vehicle platform; the energy management module adjusts the output power of the engines and the propulsion motors according to the energy optimization management method, so that energy management can be optimized, energy utilization efficiency is effectively improved, and the voyage of the unmanned air transport platform is improved.
According to some embodiments of the invention, the energy management module is further configured to monitor an electrical quantity of the energy storage battery and feed back an electrical quantity state of the energy storage battery to the engine so as to adjust an output power of the engine.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a flow chart of an energy optimization management method according to an embodiment of the present invention;
FIG. 2 is a flow chart of energy optimization control in accordance with one embodiment of the present invention;
FIG. 3 is a schematic diagram of a distributed hybrid system according to an embodiment of the present invention;
FIG. 4 is a large unmanned aerial platform equipped with a distributed hybrid system in accordance with an embodiment of the present invention;
fig. 5 is a schematic layout of a distributed hybrid power system in a large unmanned aerial vehicle platform according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, the description of first, second, etc. is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, it should be understood that the direction or positional relationship indicated with respect to the description of the orientation, such as up, down, etc., is based on the direction or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the apparatus or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be determined reasonably by a person skilled in the art in combination with the specific content of the technical solution.
The prior art is applied to a power system of a large unmanned aerial vehicle platform, and needs to be provided with a high-power engine system, so that the high-power requirements of the flying process such as short-distance take-off and climbing of the flying platform are met. After the flying platform enters cruise flat flight, the power to the power propulsion system is significantly reduced. In addition, the energy management method in the prior art causes great fuel consumption of the engine, can not well utilize energy, and causes certain energy waste.
In order to solve the problems, the invention calculates the fuel consumption rate of the engine according to the power demand of the platform power system and the electric quantity of the energy storage battery, calculates the Hamiltonian according to the current of the energy storage battery and the fuel consumption rate of the engine, adopts the Pang Teli elegant Jin Jixiao value principle, solves the minimum fuel consumption rate of the engine based on the Hamiltonian, constructs the optimization function of energy optimization management according to the minimum fuel consumption rate, adjusts the output power of the engine and the propulsion motor based on the optimization function of energy optimization management, solves the minimum fuel consumption rate of the engine according to the Pang Teli elegant Jin Jixiao value principle, and takes the minimum fuel consumption rate as the energy optimization management target, thereby constructing the optimization function of energy optimization management, adjusting the output power of the engine and the propulsion motor based on the optimization function of energy optimization management, optimizing the energy management, and effectively improving the energy utilization efficiency, thereby improving the course of the unmanned air platform.
Referring to fig. 1, an embodiment of the present invention provides an energy optimization management method, which includes, but is not limited to, steps S100 to S900, wherein:
step S100, calculating the current of an energy storage battery, and calculating the power of a propulsion motor and the electric quantity of the energy storage battery according to the current of the energy storage battery;
step 200, calculating the output power of a generator according to the power of the propulsion motor;
step S300, calculating first power of an engine for power propulsion of an unmanned aerial vehicle platform according to output power of a generator;
step S400, adding the first power and the power of the propulsion motor to obtain the power requirement of a platform power system of the unmanned aerial vehicle platform;
step S500, calculating the fuel consumption rate of the engine according to the power requirement of the platform power system and the electric quantity of the energy storage battery;
step S600, calculating a Hamiltonian according to the current of the energy storage battery and the fuel consumption rate of the engine;
step S700, solving the minimum fuel consumption rate of the engine based on the Hamiltonian by adopting a Pang Teli-to-Jin Jixiao value principle;
step S800, constructing an optimization function of energy optimization management according to the minimum fuel consumption rate;
and step 900, adjusting the output power of the engine and the propulsion motor based on an optimization function of energy optimization management.
In steps S100 to S900 of some embodiments, in order to optimize energy management, effectively improve energy utilization efficiency, this embodiment calculates power of a propulsion motor and electric quantity of an energy storage battery by calculating current of the energy storage battery, and calculates power of the propulsion motor and electric quantity of the energy storage battery according to the current of the energy storage battery, calculates output power of a generator according to the power of the propulsion motor, calculates first power of an engine for unmanned aerial vehicle platform power propulsion according to the output power of the generator, adds the first power and the power of the propulsion motor, obtains platform power system power demand of the unmanned aerial vehicle platform, calculates fuel consumption rate of the engine according to the platform power system power demand and the electric quantity of the energy storage battery, calculates a hamilton function according to the current of the energy storage battery and the fuel consumption rate of the engine, adopts Pang Teli ya Jin Jixiao value principle, solves minimum fuel consumption rate of the engine based on the hamilton function, constructs an optimization function for energy optimization management according to the minimum fuel consumption rate, adjusts output powers of the engine and the propulsion motor based on the optimization function for energy optimization management.
In some embodiments, calculating the current of the energy storage battery and calculating the power of the propulsion motor and the charge of the energy storage battery from the current of the energy storage battery comprises:
the current of the energy storage cell is calculated by the following formula:
the power of the propulsion motor is provided by the energy storage battery, and the power of the propulsion motor is calculated according to the current of the energy storage battery:
P EM (t)＝V bat (t)·I bat (t)
calculating the electric quantity of the energy storage battery according to the current of the energy storage battery:
wherein ,Ibat (t) represents the current of the energy storage battery, E 0 Represents the open circuit voltage of the energy storage battery, R e Represents the internal resistance, P, of the energy storage battery bat (t) represents the charge/discharge power of the energy storage battery, P EM (t) represents the power of the propulsion motor, V bat (t) represents the voltage of the energy storage battery, and SOC (t) represents the electric quantity of the energy storage battery, and SOC 0 Represents the initial electric quantity of the energy storage battery, ah nom Representing the capacity of the energy storage battery, t 0 The start time of the current change of the energy storage cell is indicated, t represents the time variable of each change period.
In some embodiments, the power of the generator is calculated by:
wherein ,Pgen (t) represents the output power of the generator, P EM (t) represents the power of the propulsion motor, and η represents the charge-discharge efficiency. In some embodiments, the first power of the engine for unmanned aerial vehicle platform power propulsion is calculated by:
P ICE,P (t)＝P ICE (t)-P gen (t)
wherein ,PICE (t) represents the total power demand of the engine, P ICE,P (t) represents the first power of the engine for unmanned aerial vehicle platform power propulsion, P gen And (t) represents the output power of the generator.
In some embodiments, the fuel consumption rate of the engine is calculated by:
wherein ,representing the fuel consumption rate of the engine, P (t) representing the power demand of the platform powertrain, SOC (t) representing the charge of the energy storage battery, and t representing the time variable.
In some embodiments, the hamiltonian is calculated by:
wherein H represents a Hamiltonian,represents the fuel consumption rate of the engine, lambda (t) represents the Lagrangian multiplier, mu (t) represents the constraint of the battery SOC, I bat (t) represents the current of the energy storage battery, ah nom Representing the capacity of the energy storage cell.
In this embodiment, the hamilton function is calculated in the above manner, and the energy management optimization control law is set by using the Pang Teli elegant Jin Jixiao value principle (Pontry agin minimum principle), and the fuel consumption rate is minimized as the optimization target, so as to form the energy optimization management for the engine and the energy storage battery.
In some embodiments, the optimization function for energy optimization management is constructed by:
wherein J represents an optimization function of energy optimization management, m fuel Indicating fuel consumption of engine, t 0 Start time, t, representing a change in power demand of the platform powertrain system f The end time of the platform powertrain power demand change is represented, and t represents the time variable for each change period.
In some embodiments, adjusting the output power of the engine and propulsion motor based on an optimization function of energy optimization management includes:
based on an optimization function of energy optimization management, when the power requirement of the flying platform is determined, if the electric quantity of the energy storage battery is higher than a preset value, the output power of the propulsion motor is increased, and the output power of the engine is reduced; and if the electric quantity of the energy storage battery is lower than a preset value, increasing the output power of the engine.
In the embodiment, the output power of the propulsion motor and the output power of the engine are adjusted in real time through the optimization function of energy optimization management, so that the fuel consumption can be minimized, and the energy utilization efficiency of the system is improved.
For ease of understanding by those skilled in the art, a set of preferred embodiments are provided below:
referring to fig. 2, the energy optimization management method of the present embodiment aims to minimize fuel consumption as an energy optimization management goal, specifically:
the method comprises the following steps of:
wherein J represents an optimization function of energy optimization management, m fuel Indicating fuel consumption of engine, t 0 Start time, t, representing a change in power demand of the platform powertrain system f Indicating the end time of the platform powertrain power demand change, t indicates the time variable for each change period,indicating the fuel consumption rate of the engine.
The fuel consumption rate of the engine is calculated by:
wherein P (t) represents the power demand of the platform power system, SOC (t) represents the electric quantity of the energy storage battery, and t represents a time variable.
The power demand P (t) of the platform power system is mainly provided by two parts, one part is provided by an engine and the other part is provided by a propulsion motor, and specifically:
P(t)＝P ICE,P (t)+P EM (t)
wherein ,PICE,P (t) represents the first power of the engine for unmanned aerial vehicle platform power propulsion, P EM And (t) represents the power of the propulsion motor.
For propulsion motors, the power is mainly provided by the energy storage battery, so there are:
P EM (t)＝V bat (t)·I bat (t)
wherein ,Vbat (t) represents the voltage of the energy storage cell, I bat And (t) represents the energy storage battery current.
Voltage V of energy storage battery bat (t) can be expressed as:
V bat (t)＝E 0 -R e I bat (t)-V C0
in the above, E 0 Represents the open circuit voltage of the energy storage battery, R e Represents the internal resistance of the energy storage battery, V C0 Representing the potential difference generated by the capacitor of the energy storage cell.
The charge SOC (t) of the energy storage battery can be expressed as:
wherein ,SOC0 Represents the initial electric quantity of the energy storage battery, ah nom Representing the capacity of the energy storage battery, t 0 The start time of the current change of the energy storage cell is indicated, t represents the time variable of each change period.
According to the system design, for an engine, most of power is provided for the power requirement of a platform power system, a generator is driven to generate power, and an energy storage battery is charged according to the requirement of energy optimization management. Thus, there are:
P ICE (t)＝P ICE,P (t)+P gen (t)
in the formula ,PICE (t) represents the total power demand of the engine, P gen And (t) represents the output power of the generator.
Because the output power of the generator is consistent with the charging power of the energy storage battery, the charging power and the discharging power of the energy storage battery have corresponding relation, and the discharging power of the energy storage battery and the power P of the propulsion motor EM (t) is identical, so that there are:
P EM (t)＝ηP gen (t)
where η represents charge-discharge efficiency, and the charge-discharge efficiency is generally not less than 0.9.
Fuel consumption rate of engine according to hybrid system settingThe continuously differentiable function related to the platform power system power demand P (t), the energy storage battery charge SOC (t) can be expressed as:
thus, by Pang Teli a Jin Jixiao value principle (Pontryagin minimum principle), the optimal control law of the energy management system is set as:
wherein H represents Hamiltonian, lambda (t) represents Lagrangian multiplier for describing system dynamics in collaborative state, mu (t) is used for describing constraint of battery SOC, namely 0.2-0.95, ah nom Representing the capacity of the energy storage cell. I bat (t) represents a function of the current change of the energy storage cell, which can be expressed as:
wherein ,Pbat And (t) represents the charge and discharge power of the energy storage battery.
Referring to fig. 3, the embodiment of the invention further provides a distributed hybrid power system of an unmanned aerial vehicle platform, the distributed hybrid power system is arranged by adopting a distributed method, and the distributed hybrid power system of the unmanned aerial vehicle platform comprises:
the plurality of engines are connected with the first propeller through an output shaft of the generator, and are used for adjusting the output power of the engines according to the load and driving the first propeller to provide thrust for the unmanned aerial vehicle platform;
a plurality of generators connected to the plurality of engines for converting a portion of the mechanical energy provided by the plurality of engines into electrical energy in the form of three-phase alternating current;
the plurality of AC/DC modules are electrically connected with the plurality of generators and are used for converting three-phase alternating current of the plurality of generators into direct current;
the energy management module is electrically connected with the plurality of AC/DC modules and is used for obtaining direct currents output by the plurality of AC/DC modules and adjusting the output power of the plurality of engines and the output power of the plurality of propulsion motors according to the energy optimization management method;
the energy storage batteries are electrically connected with the energy management module and are used for storing direct current output by the energy management module and supplying power to the electric regulators;
the plurality of electric speed regulators are connected with the plurality of energy storage batteries and are used for driving the plurality of propulsion motors to regulate the speed;
and the plurality of propulsion motors are connected with the second propeller and are used for driving the second propeller to provide thrust for the unmanned aerial vehicle platform.
In the embodiment, the distributed method is adopted for layout installation, so that the requirement of the unmanned aerial vehicle platform on the installation space can be reduced, the flexibility of installation of other equipment of the unmanned aerial vehicle platform can be greatly improved, the distributed method is adopted for layout installation, the heat dissipation of the system can be improved, the pneumatic characteristics of the unmanned aerial vehicle platform can be improved, the lifting force can be improved, and the energy consumption of a distributed hybrid power system can be reduced; the multiple engines and the multiple generators are adopted to provide electric energy for the unmanned aerial vehicle platform, and when one of the engines fails or the output is limited, the other engines can continue to provide electric energy for the platform, so that the safety and reliability of the whole unmanned aerial vehicle platform are improved; the energy management module is electrically connected with the plurality of AC/DC modules and the plurality of energy storage batteries, so that the energy can be output to the load equipment in a multiplexing way to supply power, and the energy management module provides possibility for carrying out distributed layout installation on the load equipment of the distributed hybrid power system on the unmanned aerial vehicle platform; the energy management module adjusts the output power of the engines and the propulsion motors according to the energy optimization management method, so that energy management can be optimized, energy utilization efficiency is effectively improved, and the voyage of the unmanned air transport platform is improved.
In some embodiments, the energy management module is further configured to monitor a charge of the energy storage battery and feed back a state of charge of the energy storage battery to the engine to adjust an output power of the engine.
For ease of understanding by those skilled in the art, a set of preferred embodiments are provided below:
referring to fig. 3 to 5, the distributed hybrid power system of the embodiment includes an engine, a generator, an AC/DC module, an energy management module, an energy storage battery, an electric regulator, a propulsion motor and a propeller, and is installed in a large unmanned aerial vehicle platform by adopting a distributed strategy layout, so that the safety and reliability of the whole hybrid power system and the large unmanned aerial vehicle platform are improved, and the installation flexibility of other devices of the large unmanned aerial vehicle platform can be improved. Specific:
the engine comprises two sets of engines and propellers, wherein an ECU (engine control unit) of the engines receives the voltage and the electric quantity of an energy storage battery detected by an energy management module, and the engine in an operating state adjusts the opening of an accelerator according to the load (the load requirement comprises the power requirement of a propulsion system and the electric quantity preservation state of the energy storage battery) so as to change the output power of the engine; for example, when the voltage or the electric quantity of the energy storage battery is lower than a set value, the state of the energy storage battery is fed back to the engine, and the rotating speed of the engine is increased to increase the output power so as to charge the energy storage battery pack. The engine can drive the propeller connected with the output shaft of the engine while outputting power, and thrust is provided for a large unmanned aerial vehicle platform.
The two sets of generators convert the output power of the engine into electric energy in real time according to the output power of the engine (namely, convert part of mechanical energy provided by the engine into electric energy output in a three-phase alternating current form) and output the electric energy to the AC/DC module.
The AC/DC module receives the two paths of three-phase alternating current output by the generator, converts the three-phase alternating current into direct current, and outputs the direct current to equipment on the bus for power supply through the energy management module.
The energy management module CAN monitor the voltage and the electric quantity of the energy storage battery in real time, and transmit the data such as the voltage and the electric quantity of the energy storage battery, the working state and the like to the equipment such as an ECU (electronic control unit) of the engine, an autopilot of a large unmanned aerial vehicle platform and the like through communication interfaces such as a network interface, a CAN (controller area network), a serial port and the like in real time.
The energy storage batteries can store electric energy output by the generator and supply power for the electric motor and the electric motor.
And the electric regulators regulate the speed of the propulsion motor according to the received control instruction and drive the propulsion motor.
The propulsion motors drive the propellers to improve the aerodynamic performance of the unmanned aerial vehicle platform wing, improve the lift force and provide thrust for the large unmanned aerial vehicle platform.
The two sets of engines, the generators and the AC/DC module provide thrust for the air transport platform together, the power generation systems are redundant backups, three-phase alternating current can be output simultaneously to the energy management module through the AC/DC module, and any set of three-phase alternating current can be output to the energy management module through the AC/DC module. Therefore, when one set of faults or limited output, the other set of faults or limited output can continuously provide electric energy for the large unmanned aerial vehicle platform, so that the safety and reliability of the whole large unmanned aerial vehicle platform are improved.
In this embodiment, the energy storage batteries, the electric power generators, the propulsion motors and the propellers are in a one-to-one correspondence, that is, one energy storage battery supplies power to one electric power generator, one electric power generator drives one propulsion motor, and one propulsion motor drives one propeller, so that thrust is provided for the large unmanned aerial vehicle platform. The input of each energy storage battery is connected with a bus output by an energy management module, and the number of the plurality of energy storage batteries, the plurality of electricity and the plurality of propulsion motors and the number of the propellers installed on the large unmanned aerial vehicle platform in the embodiment are not less than 6.
The energy storage batteries, the electric regulators, the propulsion motors and the propellers are arranged in two groups in the wings at two sides of the large unmanned aerial vehicle platform; the number of the energy storage batteries, the electric power and the propulsion motors and the screw propellers of each large group is equal, each large group is divided into a plurality of small groups, each small group comprises one energy storage battery, one electric power, one propulsion motor and one screw propeller, and the number of the small groups is the same as the number of the energy storage batteries (or the electric power and the propulsion motors). The devices between each subgroup in each big group are installed and distributed in the wings on two sides of the large unmanned aerial vehicle platform in a uniformly distributed manner by adopting a distributed strategy.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention.

Claims (10)

1. The energy optimization management method is characterized by comprising the following steps of:
calculating the current of an energy storage battery, and calculating the power of a propulsion motor and the electric quantity of the energy storage battery according to the current of the energy storage battery;
calculating the output power of a generator according to the power of the propulsion motor;
calculating first power of the engine for power propulsion of the unmanned aerial vehicle platform according to the output power of the generator;
adding the first power and the power of the propulsion motor to obtain a platform power system power requirement of the unmanned aerial vehicle platform;
calculating the fuel consumption rate of the engine according to the power requirement of the platform power system and the electric quantity of the energy storage battery;
calculating a Hamiltonian according to the current of the energy storage battery and the fuel consumption rate of the engine;
solving the minimum fuel consumption rate of the engine based on the Hamiltonian by adopting a Pang Teli and Jin Jixiao value principle;
constructing an optimization function of energy optimization management according to the minimum fuel consumption rate;
and adjusting the output power of the engine and the propulsion motor based on an optimization function of the energy optimization management.
2. The energy optimization management method according to claim 1, wherein the calculating the current of the energy storage battery and calculating the power of the propulsion motor and the power of the energy storage battery according to the current of the energy storage battery includes:
calculating the current of the energy storage battery by the following formula:
the power of the propulsion motor is provided by an energy storage battery, and the power of the propulsion motor is calculated according to the current of the energy storage battery:
P EM (t)＝V bat (t)·I bat (t)
calculating the electric quantity of the energy storage battery according to the current of the energy storage battery:
wherein ,Ibat (t) represents the current of the energy storage battery, E 0 Represents the open circuit voltage of the energy storage battery, R e Represents the internal resistance, P, of the energy storage battery bat (t) represents the charge/discharge power of the energy storage battery, P EM (t) represents the power of the propulsion motor, V bat (t) represents the voltage of the energy storage battery, and SOC (t) represents the electric quantity of the energy storage battery, SOC 0 Represents the initial electric quantity of the energy storage battery, ah nom Representing the capacity of the energy storage battery, t 0 Representing the start time of the current change of the energy storage battery, t representing the time variable of each change period.
3. The energy optimization management method according to claim 1, wherein the power of the generator is calculated by:
wherein ,Pgen (t) represents the output power of the generator, P EM (t) represents the power of the propulsion motor, and η represents the charge-discharge efficiency.
4. The energy optimization management method according to claim 1, wherein the first power of the engine for unmanned aerial vehicle platform power propulsion is calculated by:
P ICE,P (t)＝P ICE (t)-P gen (t)
wherein ,PICE (t) represents the total power demand of the engine, P ICE,P (t) represents the first power of the engine for unmanned aerial vehicle platform power propulsion, P gen (t) represents the output power of the generator.
5. The energy optimization management method according to claim 1, wherein the fuel consumption rate of the engine is calculated by:
wherein ,representing the fuel consumption rate of the engine, P (t) representing the platform powertrain power demand, SOC (t) representing the charge of the energy storage battery, and t representing a time variable.
6. The energy optimization management method according to claim 1, wherein the hamilton function is calculated by:
wherein H represents a Hamiltonian,represents the fuel consumption rate of the engine, lambda (t) represents the Lagrangian multiplier, mu (t) represents the constraint of the battery SOC, I bat (t) represents the current of the energy storage battery, ah nom Representing the capacity of the energy storage cell.
7. The energy optimization management method according to claim 6, wherein the optimization function of energy optimization management is constructed by:
wherein J represents an optimization function of energy optimization management, m fuel Representing the fuel consumption of said engine, t 0 A start time, t, representing a change in power demand of the platform powertrain system f Representing the end time of the power demand change of the platform power system, and t represents the time variable of each change period.
8. The energy optimization management method according to claim 1, wherein the adjusting the output power of the engine and the propulsion motor based on the optimization function of the energy optimization management includes:
based on the optimization function of the energy optimization management, when the power requirement of the flying platform is determined, if the electric quantity of the energy storage battery is higher than a preset value, increasing the output power of the propulsion motor and reducing the output power of the engine; and if the electric quantity of the energy storage battery is lower than the preset value, increasing the output power of the engine.
9. The utility model provides a distributed hybrid power system of unmanned aerial vehicle platform, its characterized in that, distributed hybrid power system adopts distributed method to carry out overall arrangement installation, unmanned aerial vehicle platform's distributed hybrid power system includes:
the plurality of engines are connected with the first propeller through the output shaft of the generator, and are used for adjusting the output power of the engines according to the load size and driving the first propeller to provide thrust for the unmanned aerial vehicle platform;
a plurality of generators connected to the plurality of engines for converting a portion of the mechanical energy provided by the plurality of engines into electrical energy in the form of three-phase alternating current;
a plurality of AC/DC modules electrically connected to the plurality of generators for converting three-phase AC power of the plurality of generators to DC power;
the energy management module is electrically connected with the plurality of AC/DC modules, and is used for acquiring direct currents output by the plurality of AC/DC modules and adjusting the output power of the plurality of engines and the plurality of propulsion motors according to the energy optimization management method of any one of claims 1 to 8;
the energy storage batteries are electrically connected with the energy management module and are used for storing direct current output by the energy management module and supplying power to the electric regulators;
the plurality of electric regulators are connected with the plurality of energy storage batteries and are used for driving the plurality of propulsion motors to regulate the speed;
the plurality of propulsion motors are connected with the second propeller and used for driving the second propeller to provide thrust for the unmanned aerial vehicle platform.
10. The unmanned aerial vehicle platform's distributed hybrid system of claim 9, wherein the energy management module is further configured to monitor the charge of the energy storage battery and feed back the state of charge of the energy storage battery to the engine in order to adjust the output power of the engine.
CN202310658420.8A 2023-06-05 2023-06-05 Energy optimization management method and distributed hybrid power system of unmanned aerial vehicle platform Pending CN116692059A (en)

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