Hybrid propulsion system air-ground load adaptive power following optimization method

Abstract

The invention discloses a hybrid propulsion system air-ground load adaptive power following optimization method, which comprises the following steps: 1, in the operation process of a hovercar, firstly constructing an air-ground state signal acquisition method through various sensors, and carrying out data processing by taking power requirements under different environmental conditions as targets; 2, based on the power demand real-time monitoring and vehicle speed, height, acceleration and environmental condition change conditions in the step 1, establishing a power distribution model under the conversion between an air flight state and a ground driving state; 3, obtaining a power distribution relation based on the air-ground state signal and the state information of the piston engine and the motor based on the motor torque and the engine rotating speed in the step 2; and 4, further optimizing power distribution through a real-time feedback control strategy on the basis of the step 3. By adjusting power output in real time, self-adaptive response to load changes is achieved, and therefore the overall operation efficiency and safety of the hovercar are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of optimization control of a flying car power system, and in particular to an air-to-ground load adaptive power following optimization method for a hybrid propulsion system. Background Art

[0002] With the rapid development of flying car technology, hybrid propulsion systems have gradually become an important research direction in this field due to their significant advantages in energy efficiency and environmental protection. Flying cars need to operate in two different environments, air and ground. Although the load may remain unchanged, the power requirements will be significantly different due to differences in aerodynamic characteristics and ground friction resistance. Therefore, how to accurately adjust the system power output during the air-to-ground conversion process to ensure the stability and efficiency of the flying car has become an important technical challenge.

[0003] Most existing hybrid propulsion systems for flying cars adopt a fixed power allocation strategy, which fails to fully consider the impact of dynamic changes in air-ground loads on the system power demand. This strategy may be effective in a single operating mode, but when faced with air-ground conversions or complex load changes, the system's power output often cannot match actual demand, resulting in problems such as low system efficiency and unstable performance, and may even affect flight safety. For example, in the Chinese invention patent application number CN202111322286.1, entitled "Power Processing Method and Device for Flying Cars", a method is proposed to iteratively calculate theoretical values ​​based on state parameters and basic aerodynamic data under the operating state of the car, and then obtain the power allocation method of the flying car's required power under different states through theoretical calculation. Although a certain degree of power regulation can be achieved, when dealing with complex load changes, there are still problems of power following response lag and low overall system efficiency. For example, the patent application number CN202311300521.4, entitled “A flying car with integrated legs and propellers that can quickly change between land and air”, proposed a strategy to adapt to different working conditions by switching modes. However, since the synergistic effect of the air-ground environment was not considered, the system was prone to power fluctuations during the switching process, affecting flight stability and comfort. In addition, the patent application number CN202311401914.4, entitled “A method for estimating the available energy of a flying car battery system based on speed planning quota”, proposed a power allocation method based on the optimal energy consumption point of the car to ensure that the car is at the optimal speed at each stage. It also did not consider the synergistic effect of the air-ground environment and has limitations.

[0004] In general, the existing technology has the following two main problems in power allocation and optimization control strategies: First, existing research generally optimizes power allocation for a single scenario or load, ignoring the dynamic change characteristics of air-to-ground loads, resulting in power output being difficult to follow load changes in real time in complex flight missions, and system performance is easily affected. Second, in terms of adaptive control, existing research only optimizes fixed-mode power allocation, lacks in-depth analysis of power demand changes during air-to-ground load conversion and adaptive adjustment strategies, resulting in the system being unable to achieve seamless and smooth transition during air-to-ground conversion, affecting the overall operating efficiency and safety of the flying car. Therefore, how to develop an adaptive power following optimization method for hybrid propulsion systems that can adjust power output in real time during air-to-ground load changes and ensure efficient and stable operation of the system has become a key factor restricting the further development of flying car technology. Summary of the invention

[0005] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0006] In view of the problems existing in the above-mentioned existing air-to-ground load adaptive power following optimization method of the hybrid propulsion system, the present invention is proposed.

[0007] Therefore, the purpose of the present invention is to provide an air-to-ground load adaptive power following optimization method for a hybrid propulsion system, which realizes adaptive response to load changes by adjusting power output in real time, thereby improving the overall operating efficiency and safety of the flying car.

[0008] In order to solve the above technical problems, the present invention provides the following technical solutions: a hybrid propulsion system air-to-ground load adaptive power following optimization method, comprising: Step 1: During the operation of the flying car, firstly, a method for collecting air-ground state signals is constructed through a variety of sensors, and data processing is performed based on the power demand under different environmental conditions, so as to obtain real-time monitoring of the power demand of the flying car in the air and on the ground, as well as changes in vehicle speed, altitude, acceleration, and environmental conditions; Step 2: Based on the real-time monitoring of power demand in step 1 and the changes in vehicle speed, altitude, acceleration, and environmental conditions, a power allocation model for the transition between air flight and ground driving is established. The power allocation values ​​of the piston engine and the electric motor, as well as the changes in motor torque and engine speed, are obtained through the air state output information and ground state output information of the model to adapt to the changes in power demand under different flight modes and working conditions. Step 3: Based on the motor torque and engine speed in step 2, the power allocation relationship based on the air-ground state signal and the piston engine and electric motor state information is obtained, the transfer function between the power demand prediction and the flying car state information is obtained, a dynamic power allocation strategy is established, and the power output adjustment parameters of the piston engine and the electric motor are obtained as the output of the adaptive regulation controller and output to the piston engine controller and the electric motor controller; Step 4: Based on step 3, the power distribution is further optimized through real-time feedback control strategy to ensure the stability of the flying car's power output during air-to-ground state transitions and emergency conditions, and to achieve optimal control of power distribution under different conditions.

[0009] As a preferred solution of the hybrid propulsion system air-to-ground load adaptive power following optimization method of the present invention, the step 1 specifically includes: 1.1) Use speed sensors, position sensors, and acceleration sensors to collect the state signals of the flying car, collect the speed v(t), height h(t), acceleration a(t), and environmental state changes of the flying state and the ground driving state, filter and preprocess these signals, and filter out noise: , where s is the complex frequency, is the velocity constant, is the height constant, , It is the speed and height signal after noise filtering; 1.2) Based on environmental conditions (such as wind speed, slope) and processed state signals, a power demand model P(t) is constructed to calculate the flight power demand in the air and ground travel power requirements : ,in, is the air density, is the air resistance coefficient, A is the windward area, The traction force on the car; 1.3) Power requirements for real-time computing and Monitoring and feedback are performed, and the results are stored in the state feedback module for use in subsequent steps.

[0010] As a preferred solution of the hybrid propulsion system air-to-ground load adaptive power following optimization method of the present invention, the step 2 specifically includes: 2.1) Based on real-time monitoring of power demand and , establish a power allocation model, the model assumes that the total power demand is , the power allocated to the piston engine and the electric motor is and : ; 2.2) In the case of open-ground state transition, by adjusting the allocation coefficient in the model and , calculate the power distribution value of the piston engine and the electric motor under different conditions: ,in, ; 2.3) Determine the motor torque based on the calculated power distribution value , engine torque , to adapt to the changes in power requirements under different flight modes and working conditions.

[0011] As a preferred solution of the hybrid propulsion system air-to-ground load adaptive power following optimization method of the present invention, the step three specifically includes: 3.1) Using the power allocation relationship in step 2 and the state signal of the flying car, a power demand prediction model P^(t) is established to predict the power demand at future times: ; 3.2) Through the power demand prediction model, the power allocation transfer function G(s) is established, which describes the dynamic relationship between input power demand and output power: , where K is the gain, τ is the time constant, and s is the complex frequency; 3.3) Based on the transfer function G(s) and the state feedback results, design a dynamic power allocation strategy to determine the power output adjustment parameters of the piston engine and the electric motor and , and use it as the output of the adaptive regulation controller: ,in, is the transfer function of motor power, is the transfer function of the engine power.

[0012] As a preferred solution of the hybrid propulsion system air-to-ground load adaptive power following optimization method of the present invention, the step 4 specifically includes: 4.1) Through the real-time feedback control strategy, the stability of the flying car's power output during the air-to-ground state transition is monitored, and the power output of the piston engine and the electric motor is adjusted using the feedback control law u(t): , where e(t) is the error between the power demand and the actual power output, and Kp, Ki, and Kd are control gains; 4.2) Based on the feedback control strategy, the power distribution is further optimized to ensure the stability of power output during air-ground state transition and emergency conditions, achieve optimal control of power distribution, and ultimately ensure the efficient operation and safety of the system.

[0013] As a preferred solution of the air-to-ground load adaptive power following optimization method of the hybrid propulsion system of the present invention, the air-to-ground load adaptive power following optimization method of the hybrid propulsion system is based on a hybrid propulsion system, including: a planetary gear coupling mechanism, an aviation piston engine module, an engine, a speed sensor, a torque sensor, a CAN bus, a low-voltage power supply, a low-voltage wiring harness, a power control unit, a multi-motor drive module, a motor, an adaptive regulation controller, a high-voltage wiring harness, a high-voltage power supply, a BMS battery management system, an ECU, a voltage sensor and a circuit breaker; The outputs of the aviation piston engine module and the multi-motor drive module are coupled through a planetary gear coupling mechanism. The aviation piston engine and the multi-motor drive module output rotational power through their crankshafts and motor rotors respectively, and transmit the power to the planetary gear coupling mechanism through a transmission device; The BMS battery management system is connected to the multi-motor drive module through a high-voltage wire harness, and the positive and negative outputs of the battery pack are connected to the input end of the BMS battery management system through the high-voltage wire harness. The direction of the high-voltage wire harness is reasonably planned, and the connector of the high-voltage wire harness is connected to the high-voltage input interface of the multi-motor drive module; The aviation piston engine module connects the speed sensor and torque sensor on the engine to the ECU through a low-voltage wiring harness, reasonably plans the wiring harness direction according to the layout of the car, connects the control signal of the ECU to the input end of the power control unit through the low-voltage wiring harness, and controls the power output of the engine; The high-voltage power supply is connected to the BMS battery management system through a high-voltage wiring harness, and the low-voltage power supply is connected to the BMS battery management system through a low-voltage wiring harness. The BMS battery management system can monitor the power of the high-voltage power supply and the low-voltage power supply respectively through voltage sensors, and realize power supply protection function for the high and low voltage power supplies through circuit breakers and current limiting circuits; the adaptive regulation controller communicates with the aviation piston engine module, the multi-motor drive module and the BMS battery management system through the CAN bus, and dynamically adjusts the power output strategy based on the real-time changes of the air-ground load and the system feedback information, and controls the power distribution of the aviation piston engine and the multi-motor drive module.

[0014] As a preferred solution of the air-to-ground load adaptive power following optimization method of the hybrid propulsion system described in the present invention, the power of the piston engine and the motor can be independently or simultaneously input into the coupling mechanism. When the engine and the motor work at the same time, the planetary gear coupling mechanism synthesizes these input powers and transmits them to one or more output shafts. During the power transmission process, the internal mechanism of the planetary gear will automatically adjust according to the speed and torque of each input to maintain the balance and efficiency of the system. The synthesized power is transmitted to the propeller through the output shaft of the planetary gear coupling mechanism to provide propulsion for the flying car.

[0015] As a preferred solution of the air-to-ground load adaptive power following optimization method of the hybrid propulsion system described in the present invention, the BMS battery management system is responsible for managing the status of the battery and adjusting the battery output power according to the change of the load to improve the power distribution efficiency; when the power demand suddenly changes, the BMS battery management system monitors the load change and sends high-frequency power adjustment instructions through the adaptive adjustment controller to coordinate the output of the aviation piston engine module and the multi-motor drive module to achieve precise control of the system.

[0016] As a preferred solution of the air-to-ground load adaptive power following optimization method of the hybrid propulsion system of the present invention, the planetary gear coupling mechanism is a hollow cylindrical structure, consisting of a planet carrier, a sun gear, a planetary gear and an inner ring gear. The design of the planetary gear allows power to be distributed among multiple inputs. By adjusting the distribution ratio of the gear mechanism, fine adjustment of the hybrid power output can be achieved. When a piston engine or motor fails, the planetary gear coupling mechanism can redistribute power to ensure the safe operation of the flying car.

[0017] As a preferred solution of the air-to-ground load adaptive power following optimization method of the hybrid propulsion system described in the present invention, the speed sensor and torque sensor are both patch type, installed on the motor shaft of the multi-motor drive module and the crankshaft of the aviation piston engine module, and are used to collect the operating data of the power system in real time.

[0018] Beneficial effects of the present invention:

[0019] 1. The present invention not only takes into account the power demand prediction of the flying car in both flying and ground driving states, and realizes the accurate prediction of the power demand change, but also combines real-time monitoring feedback to ensure the stability of the system under different operating conditions.

[0020] 2. The present invention fully considers the power allocation requirements of the flying car during the air-to-ground state transition by introducing an adaptive power allocation strategy, and introduces a dynamic power allocation control strategy. For example, in the air flight mode, the electric motor is given priority for efficient energy conversion, while in the ground driving mode, the internal combustion engine is relied on to provide high torque output. When the state changes or some functions fail, the system can still maintain the stability of the flying car through dynamic adjustment, realizing power optimization control under different working conditions, thereby improving the dynamic power allocation efficiency of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them: Figure 1 is a structural diagram of the hybrid propulsion system of the present invention; Figure 2 is a structural diagram of the planetary gear coupling mechanism of the present invention; Figure 3 Schematic diagram of the method of the present invention. DETAILED DESCRIPTION

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0023] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0024] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0025] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0026] Reference Figure 1-Figure 3 , provides an air-to-ground load adaptive power following optimization method for a hybrid propulsion system, including: Step 1: During the operation of the flying car, firstly, a method for collecting air-ground state signals is constructed through a variety of sensors, and data processing is performed based on the power demand under different environmental conditions, so as to obtain real-time monitoring of the power demand of the flying car in the air and on the ground, as well as changes in vehicle speed, altitude, acceleration, and environmental conditions; Step 2: Based on the real-time monitoring of power demand in step 1 and the changes in vehicle speed, altitude, acceleration, and environmental conditions, a power allocation model for the transition between air flight and ground driving is established. The power allocation values ​​of the piston engine and the electric motor, as well as the changes in motor torque and engine speed, are obtained through the air state output information and ground state output information of the model to adapt to the changes in power demand under different flight modes and working conditions. Step 3: Based on the motor torque and engine speed in step 2, the power allocation relationship based on the air-ground state signal and the piston engine and electric motor state information is obtained, the transfer function between the power demand prediction and the flying car state information is obtained, a dynamic power allocation strategy is established, and the power output adjustment parameters of the piston engine and the electric motor are obtained as the output of the adaptive regulation controller and output to the piston engine controller and the electric motor controller; Step 4: Based on step 3, the power distribution is further optimized through real-time feedback control strategy to ensure the stability of the flying car's power output during air-to-ground state transitions and emergency conditions, and to achieve optimal control of power distribution under different conditions.

[0027] Wherein, the step 1 specifically includes: 1.1) Use speed sensors, position sensors, and acceleration sensors to collect the state signals of the flying car, collect the speed v(t), height h(t), acceleration a(t), and environmental state changes of the flying state and the ground driving state, filter and preprocess these signals, and filter out noise: , where s is the complex frequency, is the velocity constant, is the height constant, , It is the speed and height signal after noise filtering; 1.2) Based on environmental conditions (such as wind speed, slope) and processed state signals, a power demand model P(t) is constructed to calculate the flight power demand in the air and ground travel power requirements : ,in, is the air density, is the air resistance coefficient, A is the windward area, The traction force on the car; 1.3) Power requirements for real-time computing and Monitoring and feedback are performed, and the results are stored in the state feedback module for use in subsequent steps.

[0028] Furthermore, the step 2 specifically includes: 2.1) Based on real-time monitoring of power demand and , establish a power allocation model, the model assumes that the total power demand is , the power allocated to the piston engine and the electric motor is and : ; 2.2) In the case of open-ground state transition, by adjusting the allocation coefficient in the model and , calculate the power distribution value of the piston engine and the electric motor under different conditions: ,in, ; 2.3) Determine the motor torque based on the calculated power distribution value , engine torque , to adapt to the changes in power requirements under different flight modes and working conditions.

[0029] Specifically, the step three specifically includes: 3.1) Using the power allocation relationship in step 2 and the state signal of the flying car, a power demand prediction model P^(t) is established to predict the power demand at future times: ; 3.2) Through the power demand prediction model, the power allocation transfer function G(s) is established, which describes the dynamic relationship between input power demand and output power: , where K is the gain, τ is the time constant, and s is the complex frequency; 3.3) Based on the transfer function G(s) and the state feedback results, design a dynamic power allocation strategy to determine the power output adjustment parameters of the piston engine and the electric motor and , and use it as the output of the adaptive regulation controller: ,in, is the transfer function of motor power, is the transfer function of the engine power.

[0030] Wherein, the step 4) specifically includes: 4.1) Through the real-time feedback control strategy, the stability of the flying car's power output during the air-to-ground state transition is monitored, and the power output of the piston engine and the electric motor is adjusted using the feedback control law u(t): , where e(t) is the error between the power demand and the actual power output, and Kp, Ki, and Kd are control gains; 4.2) Based on the feedback control strategy, the power distribution is further optimized to ensure the stability of power output during air-ground state transition and emergency conditions, achieve optimal control of power distribution, and ultimately ensure the efficient operation and safety of the system.

[0031] The hybrid propulsion system air-to-ground load adaptive power following optimization method is based on a hybrid propulsion system, including: a planetary gear coupling mechanism 1, an aviation piston engine module 2, an engine 3, a speed sensor 4, a torque sensor 5, a CAN bus 6, a low-voltage power supply 7, a low-voltage wiring harness 8, a power control unit 9, a multi-motor drive module 10, a motor 11, an adaptive regulation controller 12, a high-voltage wiring harness 13, a high-voltage power supply 14, a BMS battery management system 15, an ECU 16, a voltage sensor 17 and a circuit breaker 18; The outputs of the aviation piston engine module 2 and the multi-motor drive module 10 are coupled through a planetary gear coupling mechanism 1. The aviation piston engine 2 and the multi-motor drive module 10 output rotational power through their crankshafts and motor rotors, respectively, and transmit the power to the planetary gear coupling mechanism 1 through a transmission device; The BMS battery management system 15 is connected to the multi-motor drive module 10 through the high-voltage wire harness 13. The positive and negative outputs of the battery pack are connected to the input end of the BMS battery management system 15 through the high-voltage wire harness 13. The direction of the high-voltage wire harness 13 is reasonably planned, and the connector of the high-voltage wire harness 13 is connected to the high-voltage input interface of the multi-motor drive module 10. The aviation piston engine module 2 connects the speed sensor 4 and the torque sensor 5 on the engine 3 to the ECU 16 through the low-voltage wiring harness 8, reasonably plans the wiring harness direction according to the layout of the car, connects the control signal of the ECU 16 to the input end of the power control unit 9 through the low-voltage wiring harness 8, and controls the power output of the engine 3; The high-voltage power supply 14 is connected to the BMS battery management system 15 through a high-voltage wiring harness 13, and the low-voltage power supply 7 is connected to the BMS battery management system 15 through a low-voltage wiring harness 8. The BMS battery management system 15 can monitor the power of the high-voltage power supply 14 and the low-voltage power supply 7 respectively through a voltage sensor 17, and realize power supply protection function for the high and low voltage power supplies through a circuit breaker 18 and a current limiting circuit; the adaptive regulation controller 12 communicates with the aviation piston engine module 2, the multi-motor drive module 10 and the BMS battery management system 15 through a CAN bus 6, and dynamically adjusts the power output strategy based on the real-time changes of the air-ground load and the system feedback information, and controls the power distribution of the aviation piston engine 2 and the multi-motor drive module 10.

[0032] Specifically, the power of the piston engine 3 and the motor 11 can be input into the coupling mechanism independently or simultaneously. When the engine 3 and the motor 11 work at the same time, the planetary gear coupling mechanism 1 synthesizes these input powers and transmits them to one or more output shafts. During the power transmission process, the internal mechanism of the planetary gear will automatically adjust according to the speed and torque of each input to maintain the balance and efficiency of the system. The synthesized power is transmitted to the propeller through the output shaft of the planetary gear coupling mechanism 1 to provide propulsion for the flying car.

[0033] The BMS battery management system 15 is responsible for managing the battery status and adjusting the battery output power according to the load changes to improve the power distribution efficiency; when the power demand suddenly changes, the BMS battery management system 15 monitors the load changes and sends high-frequency power adjustment instructions through the adaptive adjustment controller 12 to coordinate the output of the aviation piston engine module 2 and the multi-motor drive module 10 to achieve precise control of the system.

[0034] Furthermore, the planetary gear coupling mechanism 1 is a hollow cylindrical structure, which is composed of a planet carrier 104, a sun gear 103, a planetary gear 101 and an inner ring gear 102. The design of the planetary gear allows power to be distributed among multiple inputs. By adjusting the distribution ratio of the gear mechanism, fine adjustment of the hybrid power output can be achieved. When the piston engine 3 or the motor 11 fails, the planetary gear coupling mechanism 1 can redistribute power to ensure the safe operation of the flying car. Specifically, the speed sensor 4 and the torque sensor 5 are both of patch type, which are installed on the motor shaft of the multi-motor drive module 10 and the crankshaft of the aviation piston engine module 2, and are used to collect real-time operating data of the power system.

[0035] The present invention fully considers the power allocation requirements of the flying car during the air-to-ground state transition by introducing an adaptive power allocation strategy, and introduces a dynamic power allocation control strategy. For example, in the air flight mode, the electric motor is given priority for efficient energy conversion, while in the ground driving mode, the internal combustion engine is relied on to provide high torque output. When the state is changed or some functions fail, the system can still maintain the stability of the flying car through dynamic adjustment, realizing power optimization control under different working conditions, thereby improving the dynamic power allocation efficiency of the system.

[0036] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A hybrid propulsion system air-to-ground load adaptive power following optimization method, characterized in that: include: Step 1: During the operation of the flying car, firstly, a method for collecting air-ground state signals is constructed through a variety of sensors, and data processing is performed based on the power demand under different environmental conditions, so as to obtain real-time monitoring of the power demand of the flying car in the air and on the ground, as well as changes in vehicle speed, altitude, acceleration, and environmental conditions; Step 2: Based on the real-time monitoring of power demand in step 1 and the changes in vehicle speed, altitude, acceleration, and environmental conditions, a power allocation model for the transition between air flight and ground driving is established. The power allocation values ​​of the piston engine and the electric motor, as well as the changes in motor torque and engine speed, are obtained through the air state output information and ground state output information of the model to adapt to the changes in power demand under different flight modes and working conditions. Step 3: Based on the motor torque and engine speed in step 2, the power allocation relationship based on the air-ground state signal and the piston engine and electric motor state information is obtained, the transfer function between the power demand prediction and the flying car state information is obtained, a dynamic power allocation strategy is established, and the power output adjustment parameters of the piston engine and the electric motor are obtained as the output of the adaptive regulation controller and output to the piston engine controller and the electric motor controller; Step 4: Based on step 3, the power distribution is further optimized through real-time feedback control strategy to ensure the stability of the flying car's power output during air-to-ground state transitions and emergency conditions, and to achieve optimal control of power distribution under different conditions.

2. The method for optimizing the air-to-ground load adaptive power following of a hybrid propulsion system according to claim 1, characterized in that: The step 1 specifically includes: 1.1) Use speed sensors, position sensors, and acceleration sensors to collect the state signals of the flying car, collect the speed v(t), height h(t), acceleration a(t), and environmental state changes of the air flight state and ground driving state, filter and preprocess these signals, and filter out noise: , where s is the complex frequency, is the velocity constant, is the height constant, , It is the speed and height signal after noise filtering; 1.2) Based on environmental conditions (such as wind speed, slope) and processed state signals, a power demand model P(t) is constructed to calculate the flight power demand in the air and ground travel power requirements : ,in, is the air density, is the air resistance coefficient, A is the windward area, The traction force on the car; 1.3) Power requirements for real-time computing and Monitoring and feedback are performed, and the results are stored in the state feedback module for use in subsequent steps.

3. The method for optimizing the air-to-ground load adaptive power following of a hybrid propulsion system according to claim 2, characterized in that: The step 2 specifically includes: 2.1) Based on real-time monitoring of power demand and , establish a power allocation model, the model assumes that the total power demand is , the power allocated to the piston engine and the electric motor is and : ; 2.2) In the case of open-ground state transition, by adjusting the allocation coefficient in the model and , calculate the power distribution value of the piston engine and the electric motor under different conditions: ,in, ; 2.3) Determine the motor torque based on the calculated power distribution value , engine torque , to adapt to the changes in power requirements under different flight modes and working conditions.

4. The method for optimizing the air-to-ground load adaptive power following of a hybrid propulsion system according to claim 3, characterized in that: The step three specifically includes: 3.1) Using the power allocation relationship in step 2 and the state signal of the flying car, a power demand prediction model P^(t) is established to predict the power demand at future times: ; 3.2) Through the power demand prediction model, the power allocation transfer function G(s) is established, which describes the dynamic relationship between input power demand and output power: , where K is the gain, τ is the time constant, and s is the complex frequency; 3.3) Based on the transfer function G(s) and the state feedback results, design a dynamic power allocation strategy to determine the power output adjustment parameters of the piston engine and the electric motor and , and use it as the output of the adaptive regulation controller: ,in, is the transfer function of motor power, is the transfer function of the engine power.

5. The method for optimizing the air-to-ground load adaptive power following of a hybrid propulsion system according to claim 1, characterized in that: The step 4 specifically includes: 4.1) Through the real-time feedback control strategy, the stability of the power output of the flying car during the air-to-ground state transition is monitored, and the power output of the piston engine and the electric motor is adjusted using the feedback control law u(t): , where e(t) is the error between the power demand and the actual power output, and Kp, Ki, and Kd are control gains; 4.2) Based on the feedback control strategy, the power distribution is further optimized to ensure the stability of power output during air-ground state transition and emergency conditions, achieve optimal control of power distribution, and ultimately ensure the efficient operation and safety of the system.

6. The method for optimizing the air-to-ground load adaptive power following of a hybrid propulsion system according to claim 1, characterized in that: The hybrid propulsion system air-to-ground load adaptive power following optimization method is based on a hybrid propulsion system, comprising: a planetary gear coupling mechanism (1), an aviation piston engine module (2), an engine (3), a speed sensor (4), a torque sensor (5), a CAN bus (6), a low-voltage power supply (7), a low-voltage wiring harness (8), a power control unit (9), a multi-motor drive module (10), a motor (11), an adaptive regulation controller (12), a high-voltage wiring harness (13), a high-voltage power supply (14), a BMS battery management system (15), an ECU (16), a voltage sensor (17) and a circuit breaker (18); The outputs of the aviation piston engine module (2) and the multi-motor drive module (10) are coupled via a planetary gear coupling mechanism (1); the aviation piston engine (2) and the multi-motor drive module (10) respectively output rotational power via their crankshafts and motor rotors, and transmit the power to the planetary gear coupling mechanism (1) via a transmission device; The BMS battery management system (15) is connected to the multi-motor drive module (10) via a high-voltage wire harness (13); the positive and negative outputs of the battery pack are connected to the input end of the BMS battery management system (15) via the high-voltage wire harness (13); the direction of the high-voltage wire harness (13) is reasonably planned; and the connector of the high-voltage wire harness (13) is connected to the high-voltage input interface of the multi-motor drive module (10); The aviation piston engine module (2) connects the speed sensor (4) and the torque sensor (5) on the engine (3) to the ECU (16) via a low-voltage wiring harness (8), rationally plans the wiring harness direction according to the layout of the vehicle, connects the control signal of the ECU (16) to the input end of the power control unit (9) via the low-voltage wiring harness (8), and controls the power output of the engine (3); The high-voltage power supply (14) is connected to a BMS battery management system (15) via a high-voltage wiring harness (13), and the low-voltage power supply (7) is connected to the BMS battery management system (15) via a low-voltage wiring harness (8). The BMS battery management system (15) can respectively monitor the power levels of the high-voltage power supply (14) and the low-voltage power supply (7) via a voltage sensor (17), and implement power supply protection functions for the high-voltage and low-voltage power supplies via a circuit breaker (18) and a current limiting circuit. The adaptive regulation controller (12) communicates with the aviation piston engine module (2), the multi-motor drive module (10), and the BMS battery management system (15) via a CAN bus (6), and dynamically adjusts the power output strategy based on real-time changes in air-to-ground loads and system feedback information, thereby controlling the power distribution between the aviation piston engine (2) and the multi-motor drive module (10).

7. The method for optimizing the air-to-ground load adaptive power following of a hybrid propulsion system according to claim 6, characterized in that: The power of the piston engine (3) and the motor (11) can be input into the coupling mechanism independently or simultaneously. When the engine (3) and the motor (11) are working simultaneously, the planetary gear coupling mechanism (1) synthesizes the input power and transmits it to one or more output shafts. During the power transmission process, the internal mechanism of the planetary gear will automatically adjust according to the speed and torque of each input to maintain the balance and efficiency of the system. The synthesized power is transmitted to the propeller through the output shaft of the planetary gear coupling mechanism (1) to provide propulsion for the flying car.

8. The method for optimizing the air-to-ground load adaptive power following of a hybrid propulsion system according to claim 6, characterized in that: The BMS battery management system (15) is responsible for managing the battery status and adjusting the battery output power according to changes in the load, thereby improving the power distribution efficiency; when the power demand suddenly changes, the BMS battery management system (15) monitors the load change and issues a high-frequency power adjustment command through the adaptive adjustment controller (12), thereby coordinating the output of the aviation piston engine module (2) and the multi-motor drive module (10), thereby achieving precise control of the system.

9. The method for optimizing the air-to-ground load adaptive power following of a hybrid propulsion system according to claim 6, characterized in that: The planetary gear coupling mechanism (1) is a hollow cylindrical structure, and is composed of a planet carrier (104), a sun gear (103), a planetary gear (101), and an inner gear ring (102). The design of the planetary gear allows power to be distributed among multiple inputs. By adjusting the distribution ratio of the gear mechanism, fine adjustment of the hybrid power output can be achieved. When a piston engine (3) or a motor (11) fails, the planetary gear coupling mechanism (1) can redistribute power to ensure the safe operation of the flying car.

10. The method for optimizing the air-to-ground load adaptive power following of a hybrid propulsion system according to claim 6, characterized in that: The rotation speed sensor (4) and the torque sensor (5) are both of the patch type and are mounted on the motor shaft of the multi-motor drive module (10) and the crankshaft of the aviation piston engine module (2) to collect operating data of the power system in real time.

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