A low energy de-icing system and control method for limited onboard energy

Abstract

The application relates to the field of aviation deicing technology, and particularly discloses a low-energy-consumption deicing system and control method for limited onboard energy, which comprises: a plurality of deicing subzones, which are arranged symmetrically along an aircraft body axis; each deicing subzone is provided with independent heating devices and vibration devices; the heating devices are used for melting ice layers to reduce the adhesion between the ice layers and the skin; the vibration devices are used for making the skin produce pulse vibration so that the ice layers on the skin fall off; and a subzone control module is used for carrying out subzone round control on the plurality of deicing subzones, so that the plurality of deicing subzones carry out deicing work in turns, and the deicing subzones carrying out deicing at the same time are symmetric along the aircraft body axis. The application greatly reduces the energy demand of the deicing technology while ensuring the deicing efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aviation deicing technology, and in particular to a low-energy deicing system and control method for limited onboard energy. BACKGROUND

[0002] Icing has always been an important factor that endangers aviation safety, transportation, power supply systems, etc. Aircraft icing seriously affects flight safety, as it destroys the aerodynamic shape of the aircraft surface, increases flight resistance, and reduces the lift coefficient of the aircraft, and even affects the aircraft engine. Therefore, efficient anti-icing technology is crucial for aircraft flight safety.

[0003] Currently, common anti-icing and deicing technologies mainly include hot air anti-icing, electric heating anti-icing, pulse deicing, airbag deicing, liquid anti-icing, and mechanical deicing, etc. The above anti-icing and deicing methods face the following problems in practical application:

[0004] 1. High energy consumption. Traditional anti-icing technologies (such as hot air anti-icing and electric heating) have an average power density of more than 3.0 W / cm², which is not suitable for aircraft with limited onboard energy.

[0005] 2. Poor deicing effect. Airbag deicing and pulse deicing have the problem of incomplete deicing, with residual ice on the wing surface. In addition, the anti-icing fluid of liquid anti-icing loses its effectiveness after falling under the action of airflow.

[0006] To solve the above problems, the patent applicant previously proposed a deicing system combining active and passive methods (CN114655443B), which mainly uses electric heating to reduce the adhesion between the ice layer and the wing skin, and then uses an impulse vibration-based impact force generator to generate vibration, causing the surface ice to fall off. However, for aircraft with limited onboard energy such as drones, the power output of the engine is limited, and relying on increasing the power consumption of the deicing system to achieve deicing efficiency is impractical and undesirable.

[0007] Another prior art, Chinese patent application CN113086211B, discloses an electric heating segmented area mechanical deicing device and deicing method, wherein the deicing device includes: a plurality of electric heating elements arranged in an array; a plurality of vibration elements, each vibration element corresponding to the position of each electric heating element; the plurality of electric heating elements and the plurality of vibration elements are distributed on the first surface and the second surface of the airfoil model, wherein the first surface and the second surface constitute the leading edge region of the airfoil model, and the first surface and the second surface are separated by the leading edge line; the upper surfaces of the first surface and the second surface have a skin, the plurality of electric heating elements are embedded inside the skin, and the plurality of vibration elements are installed on the inner surface of the skin. In this prior art, the whole ice is divided into small ice blocks, and then each small ice block is vibrated to remove the ice.

[0008] The purpose of the prior art of dividing the whole ice into small ice blocks for partition deicing is to improve the deicing effect, and there is no corresponding optimization in energy consumption, which is not suitable for unmanned aerial vehicles with limited energy supply. SUMMARY

[0009] The purpose of the present application is to provide a low-energy deicing system and control method for limited onboard energy, which partially solves or alleviates the above-mentioned deficiencies in the prior art, and aims to ensure deicing efficiency while greatly reducing the energy demand of deicing technology.

[0010] In order to solve the above-mentioned technical problems, the present application specifically adopts the following technical solutions:

[0011] The first aspect of the present application is to provide a low-energy deicing system for limited onboard energy, comprising:

[0012] A plurality of deicing partitions are arranged symmetrically along the fuselage axis; each deicing partition is provided with an independent heating device and a vibration device; the heating device is used to melt the ice layer to reduce the adhesion between the ice layer and the skin, and the vibration device is used to make the skin produce pulse vibration to make the ice layer on the skin fall off; the heating device includes an electric heating film laid on the inner side of the skin, and the area of the electric heating film is consistent with the area of the deicing partition; the area of the deicing partition includes an ice accumulation area and an overflow ice area;

[0013] A partition control module is used to control the deicing partitions in a partition round-robin manner, so that the deicing partitions rotate to perform deicing work, and the deicing partitions that perform deicing work simultaneously are symmetrical along the fuselage axis.

[0014] As an improvement, the heating device includes an electric heating film laid on the inner side of the skin, and the area of the electric heating film is consistent with the area of the deicing partition; the electric heating film includes an insulating layer, a protective layer and a heating layer.

[0015] As an improvement, the vibration device includes a vibration exciter wound by a metal film, and the vibration exciter is arranged between the skin and the structural member.

[0016] As an improvement, the system further comprises a sensor arranged in each deicing partition for detecting the icing degree, and correspondingly, the partition control module is further used to dynamically adjust the round-robin queue of each round-robin period, specifically, the icing degree of each icing partition is obtained, and it is judged whether the icing degree of each icing partition is greater than or equal to a preset icing threshold, if yes, the deicing partition is included in the current round-robin queue.

[0017] As an improvement, the deicing partition has a rectangular shape, and a plurality of deicing partitions are arranged on the windward surface of the wing or tail and arranged along the extension direction of the wing or tail.

[0018] As an improvement, it further comprises a starting module for starting the subarea control module to control the deicing subarea to perform deicing work according to preset deicing conditions; the preset conditions are at least one of the current ambient temperature being lower than a threshold temperature, the icing sensor detecting icing, or being in an icing cloud.

[0019] As an improvement, it further comprises a starting module for, in the mode in which the subarea control module dynamically adjusts the round-robin queue of each round-robin cycle according to the icing degree monitored by the sensor in real time, judging whether at least one deicing subarea adjacent to the current deicing subarea is in the current round-robin queue, if at least one deicing subarea adjacent to the current deicing subarea is in the current round-robin queue, judging whether the adjacent deicing subarea is the next deicing subarea to be deiced, if the adjacent deicing subarea is the next deicing subarea to be deiced, controlling the vibration device of the adjacent deicing subarea to vibrate; and if the adjacent deicing subarea has completed deicing, controlling the heating unit of the adjacent deicing subarea to preheat.

[0020] As an improvement, it further comprises a starting module for, in the mode in which the subarea control module dynamically adjusts the working time of the heating device of each deicing subarea according to the temperature monitored by the temperature sensor in real time, judging whether at least one deicing subarea adjacent to the current deicing subarea is the next deicing subarea to be deiced, if the adjacent deicing subarea is the next deicing subarea to be deiced, controlling the vibration device of the adjacent deicing subarea to vibrate; and if the adjacent deicing subarea has completed deicing, controlling the heating unit of the adjacent deicing subarea to preheat.

[0021] The application further provides a control method of a low-energy-consumption deicing system with limited onboard energy, which is applied to the above deicing system and comprises the following steps:

[0022] The deicing subareas are demarcated according to the maximum deicing power provided by the power supply system;

[0023] A round-robin cycle is set, each round-robin cycle comprising a plurality of subarea working times; the number of the subarea working times is at least 1 / 2 of the number of the deicing subareas, so that at least two deicing subareas arranged symmetrically along the axis of the fuselage work simultaneously in each subarea working time; the subarea working times have intervals; and the subarea working times comprise heating device working times, delay times and vibration device working times arranged in sequence. Preferably, on the left wing and the right wing symmetrically arranged along the axis of the fuselage, the deicing subareas work in sequence according to the round-robin cycle; at the same time (i.e. in one subarea working time), at most two deicing subareas on the left wing and the right wing work for deicing, and for a wing on one side, at most one deicing subarea works.

[0024] As an improvement, the step of demarcating the deicing subzones according to the maximum deicing power provided by the power supply system comprises:

[0025] The maximum value of the area of a single deicing subzone is calculated by the formula s≤Q / (q*n), wherein s is the maximum value of the area of the deicing subzone, Q is the maximum deicing power, q is the power of the electric heating film per unit area, and n is the number of deicing subzones working simultaneously; wherein q satisfies that the skin reaches a specified temperature in a preset time.

[0026] As an improvement, the length L of the deicing subzone is preset, and the width M is set according to the maximum value s of the area of the deicing subzone.

[0027] As an improvement, the length of the deicing subzone is calculated by the formula L=L0*K, wherein L is the length of the deicing subzone, L0 is the ideal length of the deicing subzone, and K is a redundancy coefficient. Through the design of the redundancy coefficient, the finally obtained deicing subzone includes an icing area (i.e. the ideal length) and an overflow ice area (i.e. an area in which the overflow ice can affect the wing, see Figure 6 ).

[0028] As an improvement, the deicing subzones on the wing perform deicing work from the inside to the outside in sequence; and the deicing subzones on the tail perform deicing work from the outside to the inside in sequence.

[0029] As an improvement, the control method of the low-energy-consumption deicing system for limited onboard energy further comprises the step of dynamically adjusting the round-robin queue of each round-robin cycle, specifically, obtaining the icing degree of each icing subzone, and determining whether the icing degree of each icing subzone is greater than or equal to a preset icing threshold, and if so, including the deicing subzone in the current round-robin queue.

[0030] As an improvement, the control method of the low-energy-consumption deicing system for limited onboard energy further comprises the step of:

[0031] S301A identifies the type of at least one deicing subzone adjacent to the current deicing subzone, and if it is a deicing subzone to be deiced next, step S302A is performed, and if it is a deicing subzone that has completed deicing, step S303A is performed;

[0032] S302A controls the heating unit of the adjacent deicing subzone to preheat;

[0033] S303A controls the vibration device of the adjacent deicing subzone to vibrate.

[0034] As an improvement, the control method of the low-energy-consumption deicing system for limited onboard energy further comprises the step of:

[0035] S301B judges whether at least one deicing subzone adjacent to the current deicing subzone is in the current round-robin queue, if yes, step S302B is executed, otherwise, step S303B is executed;

[0036] S302B judges whether the adjacent deicing subzone is the next deicing subzone, if yes, step S304B is executed, otherwise, step S303B is executed;

[0037] S303B controls the vibration device of the adjacent deicing subzone to vibrate;

[0038] S304B controls the heating unit of the adjacent deicing subzone to preheat.

[0039] Advantageous effects:

[0040] 1. Energy consumption is significantly reduced. The existing electric heating deicing system needs to work continuously to achieve good deicing effect, resulting in high energy consumption. The present application adopts a subzone round-robin control strategy and uses heating and vibration synergy to make the ice layer on the skin peel off after melting by vibration, and each subzone works intermittently, solving the high energy consumption problem of traditional electric heating deicing technology.

[0041] 2. Service life is improved. The subzone round-robin control strategy effectively solves the problem of high load of the heating unit, prolongs the service life of the heating element, and reduces the instantaneous power, which has greater practical application advantages for unmanned aerial vehicle modification with limited on-board energy.

[0042] 3. Excellent deicing effect. The traditional electric heating system only relies on heat conduction deicing, which is low in efficiency. The present application uses the synergy of heating and vibration to loosen the ice layer by rapid heating of the heating channel, and then peel off the ice layer by the vibration channel, significantly improving the deicing efficiency. Further, due to the use of heating film for melting in advance, during the melting process of the ice block at the leading edge of the wing, part of the ice will flow to the rear along the airflow direction to form overflow ice, therefore, referring to Figure 6In the present application, when the deicing subarea is divided, the size of the deicing subarea is set in advance based on the wing structure and deicing requirements (except for the area where the ice layer is easy to form on the wing leading edge and the overflow ice formed on the wing after the ice layer is heated and flows to the rear side with the airflow, thereby affecting the overflow ice area of the wing). Thus, after deicing by the deicing system and method of the present application, even if a small amount of overflow ice remains in the deicing subarea, it does not affect the wing. Specifically, in the prior art, a corresponding vibration unit is separately provided for the overflow ice area to remove the overflow ice. However, for a UAV with limited onboard energy, on the one hand, separately providing a vibration unit for the overflow ice area to remove the overflow ice increases the weight of the UAV, and on the other hand, it also increases the system energy consumption. Compared with large aircraft, small UAVs with limited onboard energy are prone to form overflow ice after the ice on the wing leading edge melts, but due to the structural characteristics of the wing of such aircraft, not all overflow ice formed will have a bad effect on the aerodynamic force of the wing. In the present application, when the deicing area is divided, a redundancy coefficient K (preferably, 1.2-1.4) is set based on the structural characteristics of the wing and experimental experience, and the area of each deicing subarea is calculated based on the redundancy coefficient K, so that the area of the heating film is set according to the area, so that the ice in each deicing subarea is heated and melted by the heating film, avoiding the formation of overflow ice in the part of the deicing subarea away from the wing leading edge after the ice in the deicing subarea melts, thereby affecting the aerodynamic force of the wing, and combining the vibration unit to deice in time. That is, in the present application, only the overflow ice that needs to be removed (i.e., the part of the overflow ice near the wing leading edge ice area that affects the aerodynamic force of the wing, see Figure 6 ) is deiced, and no unnecessary operation is performed on the overflow ice that is not necessary (i.e., the part of the overflow ice that has little effect on the aerodynamic force of the wing, see Figure 6 the residual overflow ice), greatly reducing energy consumption.

[0043] 4. More widely adaptable. The low-energy deicing system can be applied to various aircraft, and the core parameters of the subarea round-robin control strategy can be reasonably set according to the icing characteristics and actual conditions of different aircraft, further improving the adaptability and flexibility of the system.

[0044] 5. To further reduce power consumption, a sensor is used to detect the icing degree of each subarea, and only the subarea with an icing degree greater than a preset threshold is included in the round-robin queue of the current round-robin period. That is, the round-robin queue of each round-robin period is different, thereby realizing a dynamic round-robin queue. Compared with the way of forming a fixed static round-robin queue for all subareas, energy consumption is further reduced, that is, the use of energy is more reasonable and effective.

[0045] 6. In order to further ensure safety, avoid the formation of "ice bridges" between adjacent partitions (especially the partitions of the leading edge of the wing) and affect flight and deicing effect, the heating units of the adjacent partitions of the current deicing partition currently undergoing deicing work are started to preheat or the vibration devices are vibrated, so as to reduce the risk of formation of "ice bridges". BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0047] Figure 1 Structure schematic diagram of the first embodiment of the present application;

[0048] Figure 2 Schematic diagram of the arrangement of the deicing partition;

[0049] Figure 3 Schematic diagram of the left wing deicing partition after unfolding;

[0050] Figure 4 Schematic diagram of the round-robin cycle composition in the second embodiment of the present application;

[0051] Figure 5 Schematic diagram of the partition working time composition in the second embodiment of the present application;

[0052] Figure 6 Schematic diagram of the residual overflow ice on the wing of the unmanned aerial vehicle and the deicing area (including the accumulated ice area and the overflow ice area);

[0053] Figure 7 Flowchart of an embodiment of the control method of the low-energy-consumption deicing system for limited onboard energy in the present application.

[0054] Reference numerals: 1 skin, 2 electric heating film, 3 vibration exciter, 4 structural member. DETAILED DESCRIPTION

[0055] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0056] Herein, the suffix such as "module", "part" or "unit" used for representing an element is only for facilitating the description of the present application, and has no specific meaning by itself. Therefore, "module", "part" or "unit" can be mixedly used.

[0057] Herein, the terms "upper", "lower", "inner", "outer", "front", "back", "one end", "the other end" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for facilitating the description of the present application and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0058] Herein, unless otherwise explicitly specified and limited, the terms "mount", "provided with", "connected" and the like should be understood in a broad sense, for example, "connected" can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, can be directly connected, or indirectly connected through an intermediate medium, can be the communication inside two elements. For a person of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0059] Herein, "and / or" includes any and all combinations of one or more listed associated items.

[0060] Herein, "multiple" means two or more, that is, it includes two, three, four, five, etc.

[0061] In this specification, certain embodiments can be disclosed in a format that is a range. It is to be understood that such a range format is used only for convenience and brevity and should be interpreted in a flexible manner to include not only the numerical values explicitly recited as the limits of a range, but also to include all the individual numerical values corresponding to the range bounds. Therefore, a description of a range, such as "1-6," should be interpreted to include not only the explicitly recited range, but also the individual numbers within the range, such as 1, 2, 3, 4, 5, and 6. This same logic applies to ranges reciting an upper limit of "de," where the upper limit is a letter, such as "A-G." The same logic applies to ranges reciting an upper limit of "de," where the upper limit is a letter, such as "A-G."

[0062] Embodiment One: As shown in the figure, the embodiment provides a low-energy deicing system for limited onboard energy, aiming to solve the problem of aircraft deicing under the condition of limited onboard energy. By dividing the deicing area into multiple subareas, using subarea round-robin control, combining heating and vibration deicing methods, the energy consumption is reduced as much as possible while meeting the deicing demand. And the system can automatically start deicing work according to environmental conditions, realizing intelligent deicing. The specific structure includes: Figure 1

[0063] A plurality of deicing subareas, the deicing subareas are arranged symmetrically along the fuselage axis; each deicing subarea is provided with an independent heating device and a vibration device; the heating device is used to melt the ice layer and reduce the adhesion between the ice layer and the skin, and the vibration device is used to make the skin produce pulse vibration so that the ice layer on the skin falls off.

[0064] The windward surface of the wing and the tail is the part of the wing and the tail that first contacts the airflow and water vapor during flight, and icing often occurs first here, with faster icing speed and thicker ice accumulation. Therefore, the deicing part in this embodiment is determined to be the windward surface of the wing and the tail. The deicing subarea is the division of the deicing part. Figure 1 The position of the middle skin is the windward surface of the wing or the tail, that is, the location of the deicing part.

[0065] Specifically, the deicing subarea has a rectangular (or parallelogram) shape, and a plurality of deicing subareas are arranged on the windward surface of the wing or the tail and arranged along the extension direction of the wing or the tail. Since the wing and the tail are divided into upper and lower surfaces, when the deicing subarea is applied to the wing or the tail, it is set according to the cross-sectional shape of the wing or the tail. When the deicing subarea is unfolded and laid flat, it is a rectangle (or parallelogram), which facilitates the arrangement of multiple deicing subareas.

[0066] In addition, the deicing subareas in this embodiment are symmetrically arranged, as shown in the figure, Figure 2 ​As shown, there are n deicing sub-zones on the left wing, starting from L01, L02, and there are n deicing sub-zones on the right wing, starting from R01, R02. The deicing sub-zones on both sides are symmetrical in number and size. Similarly, the deicing sub-zones T01 to T06 on the tail are also symmetrically arranged. The symmetrical deicing sub-zones can ensure that the deicing on both sides of the aircraft is symmetrical, thereby avoiding affecting the aerodynamic performance of the aircraft.

[0067] More specifically, in this embodiment, the heating device uses an electric heating film laid on the inner side of the skin, and the area of the electric heating film is consistent with the deicing sub-zone, achieving precise coverage of the heating area and the deicing sub-zone. Each deicing sub-zone can be independently and specifically heated, avoiding the problem of excessive heating area and large power demand, and preventing the problem of poor deicing effect due to insufficient heating.

[0068] In the electric heating film, the heating layer is composed of materials with good electrical conductivity and heating performance, such as metal heating wires, carbon nanotubes, etc. When an electric current passes through the heating layer, electrical energy is converted into heat energy, causing the electric heating film to rapidly heat up. The heat is transferred through the skin to the ice layer, increasing the temperature between the ice layer and the skin, thereby reducing the adhesion between the ice layer and the skin.

[0069] The insulating layer serves as an electrical isolation, isolating the heating layer from the skin and other conductive components that may come into contact, preventing current leakage and causing safety problems. The material of the insulating layer is usually selected from high-temperature-resistant and excellent insulating materials, such as polyimide, mica, etc. The presence of the insulating layer ensures the electrical safety of the aircraft, avoiding damage to the aircraft structure and equipment caused by electric heating film leakage.

[0070] The protective layer is located on the outermost layer of the electric heating film, and its main function is to protect the heating layer and the insulating layer from external environmental erosion and mechanical damage. The protective layer is usually made of materials with good wear resistance, corrosion resistance, and flexibility, such as silicone rubber, fluoroplastic, etc.

[0071] In this embodiment, the vibration device includes a vibration exciter made of a metal film wound around. The vibration exciter is arranged between the skin and the structural member, such as the support frame inside the wing. Preferably, the vibration exciter is arranged at the center position of each deicing sub-zone. When a pulse current is passed, the metal film vibrates under the action of electromagnetic force. This design makes the vibration exciter compact in structure and occupies less space, which is suitable for installation in the limited space of the aircraft. At the same time, the winding method of the metal film can effectively control the direction and frequency of vibration, making the vibration more conducive to the shedding of ice layer from the skin.

[0072] The vibration exciter is arranged between the skin and the structural member, taking the structural member as a support, which can make the vibration more directly transmitted to the skin, reducing the energy loss in the vibration transmission process.

[0073] The partition control module is configured to perform partition round-robin control on the plurality of deicing partitions, so that the plurality of deicing partitions perform deicing work in turns, and the deicing partitions that perform deicing at the same time are symmetrical along the axis of the fuselage.

[0074] The unmanned aerial vehicle mainly relies on battery power supply, and the energy stored in the battery is limited. During flight, the energy of the unmanned aerial vehicle is consumed in key links such as driving the propeller to generate thrust, controlling the flight attitude, and the like. This results in relatively less power being allocated to the deicing system. Because if too much energy is used for deicing, the endurance and flight performance of the unmanned aerial vehicle will be seriously affected, and the unmanned aerial vehicle may even be unable to complete the task or return safely due to insufficient power.

[0075] As an important heating component in the deicing system, the electric heating film works by generating heat through the passage of electric current through the heating layer to reduce the adhesion of the ice layer to the skin. However, this heating method generally requires high power to achieve the desired deicing effect in a short time (the power of the vibration device is generally less than 20% of the heating device). Each deicing partition is equipped with an electric heating film with an area matching the deicing partition. If all the deicing partitions perform deicing operations at the same time, the electric power required for the simultaneous operation of these electric heating films will be very high. This is a great challenge to the power supply system of the unmanned aerial vehicle, which is inherently limited in energy.

[0076] In order to reduce the requirements on the power supply system of the unmanned aerial vehicle, the partition deicing strategy is adopted in this embodiment, that is, a plurality of deicing partitions perform deicing in turns according to a certain order, which not only ensures the deicing effect, but also reduces the requirements on the power supply system.

[0077] Each deicing partition is equipped with an independent heating device and a vibration device. When it is the turn of the deicing partition to perform deicing, the electric heating film is first heated to reduce the adhesion of the ice layer to the skin, and then the vibration exciter is started to make the ice layer fall off. By reasonably setting the working time and round-robin cycle of the partitions, it can be ensured that each partition is fully deiced and the ice layer on the windward surface of the wings and tail is effectively removed.

[0078] The partition deicing strategy disperses the high power demand in the prior art to different time periods by having a plurality of deicing partitions perform deicing in turns according to a certain order. This greatly reduces the instantaneous power demand, avoids overloading of the power supply system, and ensures stable operation of the power supply system.

[0079] In addition, in the rotation process, the deicing sub-zones for deicing are symmetrical along the axis of the fuselage. In the embodiment, the deicing sub-zones are symmetrically distributed, and the purpose is to perform symmetrical deicing in the deicing process. For example, at the first time, the deicing area L01 on the left wing and the deicing area R01 on the right wing of the aircraft start deicing work at the same time. At the second time, the deicing area L02 on the left wing and the deicing area R02 on the right wing of the aircraft start deicing work at the same time, and so on. Multiple deicing areas can also deice at the same time, as long as the symmetrical principle is followed. Of course, in order to reduce the requirements on the power supply system as much as possible, it is best to start two deicing sub-zones at the same time. When each deicing sub-zone on the wing is rotated, the deicing sub-zones on the tail are rotated in the same way.

[0080] The starting module is configured to start the sub-zone control module to control the deicing sub-zones to perform deicing work according to preset deicing conditions, wherein the preset conditions include at least one of the following: the current ambient temperature is lower than a threshold temperature, the icing sensor detects icing, or the aircraft is in an icing cloud.

[0081] In the embodiment, the deicing system can be automatically started, and the conditions for starting include: 1. When the current ambient temperature of the aircraft is lower than a set threshold temperature, such as -5°C, it indicates that the aircraft has the risk of icing, and at this time the system automatically starts the deicing program. 2. The icing sensor can monitor whether the aircraft surface has icing phenomenon in real time. Once icing is detected, the system immediately starts deicing work. 3. When the aircraft is in an icing cloud, the possibility of icing is great, and the system will automatically start the deicing program to prepare for deicing in advance to prevent ice accumulation.

[0082] In other embodiments, the system further includes a sensor (for example, the icing detector in CN110606209B) arranged in each deicing sub-zone for detecting the degree of icing (for example, the thickness of icing), and accordingly, the sub-zone control module is further configured to dynamically adjust the rotation queue of each rotation period.

[0083] Specifically, before the end of the last rotation period, the sub-zone control module obtains the degree of icing monitored by the sensor on each deicing sub-zone, and determines whether the degree of icing of each deicing sub-zone is greater than or equal to a preset icing threshold. If yes, the deicing sub-zone is included in the current rotation queue (the next rotation queue), otherwise, the deicing sub-zone is not included in the current rotation queue.

[0084] Further, although the current icing degree of some deicing subzone can not reach the preset icing threshold, the waiting time (i.e. the time from the last deicing completion to the current time) of the deicing subzone is long, so it is very likely that the icing degree of the deicing subzone will reach the preset icing threshold during the current round. Therefore, in some embodiments, if the icing degree of the deicing subzone does not reach the preset icing threshold, but the waiting time of the deicing subzone reaches the preset time threshold, the deicing subzone is also included in the current round queue, otherwise, the deicing subzone is not included in the current round queue.

[0085] In some embodiments, the start module is further configured to determine whether at least one deicing subzone adjacent to the current deicing subzone is in the current round queue, and if at least one deicing subzone adjacent to the current deicing subzone is in the current round queue, determine whether the adjacent deicing subzone is the next deicing subzone to be deiced, and if the adjacent deicing subzone is the next deicing subzone to be deiced, control the vibration device of the adjacent deicing subzone to vibrate, and if the adjacent deicing subzone has completed deicing, control the heating unit of the adjacent deicing subzone to preheat.

[0086] Although sensors can be used to monitor the icing degree, since the deicing subzone is used in this application, setting sensors in each deicing subzone to monitor the icing degree of each deicing subzone will increase the cost, and usually such sensors are set on the surface of the wing skin, so in some scenarios, the surface of the unmanned aerial vehicle wing does not want to install any other components. Therefore, in some embodiments, instead of using sensors to monitor the icing degree on the surface of the ice layer subzone, the environmental temperature is monitored according to the temperature sensor set on the unmanned aerial vehicle, and then the heating working time is set according to the environmental temperature, and the real-time temperature data of each deicing subzone is combined to dynamically adjust the heating time.

[0087] Although the sensor cannot be set to monitor the icing degree, the ambient temperature where the unmanned aerial vehicle is located is different, and accordingly, the icing degree on the wing skin may be different, and if the same heating working time is adopted, it may cause that in some low temperature environment, the interface layer between the ice layer and the skin surface cannot be separated from the skin by heating of the heating device, therefore, it is necessary to calculate in advance through simulation that the heating device working time required to separate the interface between the ice layer and the skin surface (for example, heating for 3s can reach 30℃ at -15℃; and heating for 5s can reach 35℃ at -20℃) under different ambient temperatures, so that the skin is heated to a preset temperature threshold. Accordingly, a temperature sensor for detecting the temperature data of the skin after heating is arranged on the inner side of the skin of each deicing subzone, and then the heating device working time of the deicing subzone is dynamically adjusted according to the monitored temperature data. Specifically, the current ambient temperature is obtained, and the preset heating device working time is matched in the database according to the current ambient temperature (as described above, it can be calculated in advance through simulation, which is prior art and will not be described here), then the current temperature data of the current deicing subzone is obtained, and it is judged whether the temperature data of the deicing subzone after the preset heating device working time is greater than or equal to the preset temperature threshold, if yes, the heating device is controlled to stop heating, otherwise, the heating device is controlled to continue heating until the preset temperature threshold is reached, the actual heating working time of the heating device is recorded, and the actual heating working time is taken as the heating device working time of the deicing subzone under the current ambient temperature.

[0088] Further, since the actual heating working time is longer than the preset initial heating device working time, the above-mentioned starting module is also used to judge whether the difference Δt between the actual heating working time and the preset initial heating device working time is greater than or equal to the vibration delay time t delay , if less than the vibration delay time t delay , the vibration delay time t delay is shortened, that is, part of the vibration delay time is taken as the heating working time of the heating device; if greater than or equal to the vibration delay time, the sum of the actual heating working time and the vibration device working time is taken as the subzone working time of the deicing subzone, accordingly, the subzone working time interval between the current deicing subzone and the next deicing subzone is shortened under the condition that the loop period is unchanged.

[0089] In some other embodiments, the above-mentioned starting module is also used to identify at least one deicing subzone adjacent to the current deicing subzone when heating the current deicing subzone, and control the vibration device of the adjacent deicing subzone which has completed deicing to vibrate; at the same time, control the heating unit of the adjacent deicing subzone which is the next deicing subzone to preheat.

[0090] Embodiment two: the embodiment also provides a control method of a low-energy deicing system for limited on-board energy, which is applied to the deicing system, and refers to Figure 7 The control method specifically comprises the following steps:

[0091] S1: dividing the deicing area according to the maximum deicing power provided by the power supply system.

[0092] In the embodiment, under the premise of a certain deicing area, the division of the deicing area mainly refers to the maximum deicing power provided by the power supply system. Too few deicing areas will increase the power required by a single deicing area, thereby increasing the load of the power supply system. Too many deicing areas will increase the control difficulty and reduce the deicing efficiency.

[0093] Therefore, theoretically, the maximum deicing power provided by the power supply system is used as the upper limit of the power of the deicing area working simultaneously, that is, Q≥q*s*n, wherein Q is the maximum deicing power, q is the power of the unit area electric heating film, and n is the number of deicing areas working simultaneously. Generally, the number of simultaneously working areas n=2 is preferable, and under the premise of ensuring symmetrical deicing, the number of deicing areas is reduced as much as possible. In addition, it is worth noting that q needs to meet the requirement of reaching the specified temperature (for example, 40℃) of the skin within a predetermined time.

[0094] Therefore, the maximum value of the area of a single deicing area can be deduced as s≤Q / (q*n). After obtaining the area of a single deicing area, the number of deicing areas can be obtained through the overall area of the deicing area.

[0095] In addition, as shown in Figure 3 , since the deicing area in the embodiment is rectangular, the parameters include length L and width M. The length L is preset, and the width M is set according to the maximum value of the deicing area s.

[0096] More specifically, the length of the deicing subzone is calculated using the formula L = L0*K, where L is the length of the deicing subzone, L0 is the ideal length of the deicing subzone, and K is the redundancy coefficient. The ideal length L0 of the deicing subzone can be obtained through physical simulation, model calculation, etc. The redundancy coefficient K has a value range of 1.2-1.4. Since the ice on the deicing subzone is melted in advance by the heating film, and then deiced by the vibration device, during the deicing process, part of the liquid formed during the melting process of the ice may flow to the rear side of the ice accumulation area on the wing with the airflow to form overflow ice, and the overflow ice at different positions on the wing has different effects on the aerodynamic performance of the wing. For example, the overflow ice near the rear side of the ice accumulation area has a greater effect on the aerodynamic performance of the wing. Therefore, the effects of different positions on the aerodynamic performance of the wing are obtained in advance through physical simulation, wind tunnel implementation, and model calculation, etc., to obtain the redundancy coefficient K, so that the part of the overflow ice area and the area prone to ice accumulation are divided into one deicing subzone, as shown in Figure 3 and Figure 6 so that in the deicing process, in addition to removing the ice accumulated on the leading edge of the wing, part of the overflow ice formed after the melting of the ice is also removed, and even the formation of overflow ice in this area is prevented, avoiding the influence of the overflow ice formed after the melting of the ice on the aerodynamic performance of the wing.

[0097] After the maximum value s of the deicing subzone area and the length L of the deicing subzone are determined, the width M of the deicing subzone can be determined.

[0098] S2 sets a round-robin period, each round-robin period includes a plurality of subzone working times; the number of subzone working times is at least 1 / 2 of the number of deicing subzones, so that at least two deicing subzones arranged symmetrically along the fuselage axis work simultaneously in each subzone working time; and the subzone working times have intervals.

[0099] The core of the low-energy deicing system in this embodiment is the use of a subzone round-robin control strategy, which can effectively reduce the deicing energy consumption. The working schematic diagram of the subzone round-robin control strategy is shown in Figure 4 wherein the high level represents that the subzone is working, and the low level represents that the subzone is not working. Taking the 5 deicing subzones of the left wing of the aircraft as an example, L01 works for a period of time (the length of time is the subzone working time ts), and then L02 works, and so on. The time from the start of L01 to the start of L01 next time is the round-robin period Tc, and the time from the start of the current subzone to the start of the next subzone is the subzone working time interval Ats. All parameters can be set according to actual conditions.

[0100] It can be foreseen that, due to the symmetry of the de-icing work in the present embodiment, when the de-icing subzone L01 of the left wing is de-icing, the de-icing subzone R01 of the right wing is also de-icing. When the de-icing subzone L02 of the left wing is de-icing, the de-icing subzone R02 of the right wing is also de-icing, and so on.

[0101] In some embodiments, in order to save energy, the de-icing queue of the next round of loop is dynamically adjusted based on the current icing degree of each icing subzone before the start of each round of loop, or at the end of the previous round of loop. Specifically, a sensor is arranged in each de-icing subzone to detect the icing degree of each de-icing subzone, and then it is determined whether the icing degree of each de-icing subzone is greater than or equal to a preset icing threshold (i.e. the current icing is very thin or little, and de-icing is not needed in the present round of loop). If so, the de-icing subzone is added to the de-icing queue of the round of loop, otherwise, the de-icing subzone is not included in the de-icing queue of the round of loop, or it is deleted from the de-icing queue of the round of loop. For example, if the icing degree of the de-icing subzone L04 is less than the preset icing threshold according to the data detected by the sensor, if the de-icing subzone L04 is excluded from the de-icing queue of the round of loop, it is included in the de-icing queue of the round of loop only when the icing degree of the de-icing subzone L04 is greater than or equal to the preset icing threshold. Accordingly, during the present round of de-icing, when the de-icing of the de-icing subzone L03 is completed, the de-icing of the de-icing subzone L05 is directly performed. Figure 4

[0102] Further, although the icing degree of some de-icing subzones may not have reached the preset icing threshold, the waiting time (i.e. the time length from the completion of the last de-icing to the present time) of the de-icing subzones is relatively long. Therefore, in the present round of loop, the icing degree of the de-icing subzones is likely to reach the preset icing threshold. Therefore, in some other embodiments, if the icing degree of the de-icing subzone does not reach the preset icing threshold, but the waiting time of the de-icing subzone reaches a preset time threshold, the de-icing subzone is also included in the current de-icing queue of the round of loop, otherwise, the de-icing subzone is not included in the current de-icing queue of the round of loop.

[0103] ​However, setting the above sensor on each deicing subzone increases cost, and in some scenarios, for example, slightly small unmanned aerial vehicles, the skin surface of the unmanned aerial vehicle wing generally does not want to install any other components. Therefore, under the premise that no sensor is set on the deicing subzone to monitor the icing degree of each deicing subzone, the embodiment also provides another control method, specifically, by setting a temperature sensor for detecting the temperature data of the skin after being heated on the inner side of the skin of each deicing subzone, and then dynamically adjusting the working time of the heating device of the deicing subzone according to the monitored temperature data. Specifically, the current environmental temperature is first obtained, and the preset heating device working time is matched in the database according to the current environmental temperature (as described above, the preset heating device working time can be calculated in advance by simulation, which is prior art and will not be described here), then the current temperature data of the current deicing subzone is obtained, and it is judged whether the temperature data of the deicing subzone after the preset heating device working time is greater than or equal to the preset temperature threshold value, if yes, the heating device is controlled to stop heating, otherwise, the heating device is controlled to continue heating until the preset temperature threshold value is reached, the actual heating working time of the heating device is recorded, and the actual heating working time is taken as the heating device working time of the deicing subzone under the current environmental temperature.

[0104] Further, since the actual heating working time is longer than the preset initial heating device working time, the above starting module is also used to judge whether the difference Δt between the actual heating working time and the preset initial heating device working time is greater than or equal to the vibration delay time t delay , if less than the vibration delay time t delay , the vibration delay time t delay is shortened, that is, part of the vibration delay time is taken as the heating working time of the heating device; if greater than or equal to the vibration delay time, the sum of the actual heating working time and the vibration device working time is taken as the subzone working time of the deicing subzone. Correspondingly, the subzone working time interval between the current deicing subzone and the next deicing subzone is shortened under the condition that the round-robin period is unchanged.

[0105] In addition, the subzone working time interval Δts is set according to the icing condition. In the case of low environmental temperature and fast icing speed, the subzone working time interval Δts can be shortened even to 0, thereby improving the deicing efficiency. When the icing speed is low, the interval Δts can be lengthened, thereby reducing the energy consumption.

[0106] The number of partition working times is related to the number of deicing partitions and the number of deicing partitions allowed to work simultaneously. Since symmetrical deicing is required for the wings or the tail in the present embodiment, the number of deicing partitions allowed to work simultaneously is at least two, and the number of partition working times should be at least 1 / 2 of the number of deicing partitions. For example, if the number of deicing partitions allowed to work simultaneously is 4, the number of partition working times is 1 / 4 of the number of deicing partitions. That is, if the number of deicing partitions allowed to work simultaneously is m (m is an even number), the number of partition working times is 1 / m of the number of deicing partitions.

[0107] Of course, in other embodiments, even if the round-robin period is dynamically adjusted based on the icing degree, the working time of the heating device of the corresponding deicing partition can be further dynamically adjusted according to the monitored temperature data in each round-robin period.

[0108] In addition, in the present embodiment, the deicing partitions on the wings perform deicing work from the inside to the outside in sequence, and the deicing partitions on the tail perform deicing work from the outside to the inside in sequence.

[0109] In some embodiments, the partition working time includes the working time of the heating device, the delay time, and the working time of the vibration device arranged in sequence.

[0110] A single deicing partition control strategy working schematic diagram is shown in FIG. 1. Figure 5 As shown in FIG. 1, the single partition working time is equal to the sum of the working time t h of the electric heating system, the working time t v of the vibration system, and the vibration delay time t delay . In the working time t h of the heating device, direct current with certain current and voltage is applied to the electric heating film to make the surface temperature of the wing skin rise. The delay time t delay is the time from the instant when the heating device is turned off to the working of the vibration device, which can be set according to actual conditions and can be 0. Then the vibration system starts to work, and the repulsion excitation coil generates vibration force under the action of pulse direct current to make the ice on the skin surface fall off. Figure 4 A pulse signal schematic diagram of 5 vibrations is shown in FIG. 2.

[0111] The reason for setting the delay time t delay is that the electric heating film is laid on the inside of the skin, and the heat needs to be conducted to the ice layer on the outside surface through the skin material. The skin itself has a certain thickness and thermal resistance, and it takes time for the heat to be transmitted from the inside to the ice layer on the outside. If the vibration device is started immediately after heating, the temperature of the contact interface between the ice layer and the skin may not have reached the critical value, resulting in that the ice layer is not fully loosened, and the vibration deicing effect is poor. The delay time t delayprovides a buffer time for heat conduction, ensures that the heat of the heating layer is evenly spread to the outer surface of the skin, forms a sufficient temperature gradient at the interface between the ice layer and the skin, and effectively reduces the adhesion. Preferably, the t delay is 30 s-1 min.

[0112] In addition, as mentioned earlier, since the overflow ice is formed by the melted liquid flowing to the back side under the action of airflow after the ice on the leading edge of the wing is heated and melted, that is, the formation of overflow ice also has a certain time difference. If the vibration device is started immediately after heating, it may change the direction of liquid flow and cause unpredictable effects (for example, reverse flow or spread on the leading edge of the wing). On the other hand, the fluid has not flowed to the back side, or the overflow ice has not been formed. At this time, starting the vibration device will waste energy. That is to say, by setting the delay time, on the one hand, it provides a buffer time for heat conduction, ensures that the heat of the heating layer is evenly spread to the outer surface of the skin, forms a sufficient temperature gradient at the interface between the ice layer and the skin, and effectively reduces the adhesion. On the other hand, it provides a buffer time for the flow of liquid formed by the melting of ice, so that the melted liquid spreads to the back side of the deicing area or approaches the back side of the deicing area, or most of the liquid is away from the center position of the deicing area. When it is started, it not only can accelerate the flow of liquid to the residual overflow ice area to a certain extent, avoid the probability of forming overflow ice in the deicing area, but also can save energy to a certain extent.

[0113] The deicing effect of the low-energy deicing system is mainly related to the skin surface temperature and the vibration size. The skin surface temperature can be controlled by the heating time and the heating current, and the vibration size can be adjusted by the pulse voltage and the pulse width. In this embodiment, the selection principle of the core parameters of the low-energy deicing system control strategy is shown in Table 1:

[0114] Table 1 Selection strategy of core parameters

[0115]

[0116] S3 controls the heating device and the vibration device to deice based on the round-robin period.

[0117] In some embodiments, the low-energy deicing system can use the following ways to realize the self-starting / triggering of the deicing system:

[0118] 1. The ambient temperature is less than the set ambient temperature, such as -5°C;

[0119] 2. The icing sensor detects icing conditions;

[0120] 3. Based on the algorithm feedback of other onboard image devices, the current aircraft is in icing clouds.

[0121] The prior art sets a vibration unit for the overflow ice area to remove the overflow ice. However, for the unmanned aerial vehicle with limited on-board energy, on the one hand, setting a vibration unit for the overflow ice area to remove the overflow ice increases the weight of the unmanned aerial vehicle, and on the other hand, it also increases the system energy consumption. Compared with large aircraft, the wing ice of small unmanned aerial vehicles with limited on-board energy is prone to form overflow ice after melting, but due to the structural characteristics of the aircraft wing, not all the overflow ice formed will have a bad effect on the aerodynamic force of the wing. In the present application, when the deicing area is divided, a redundancy coefficient K (preferably 1.2-1.4) is set based on the structural characteristics of the wing and experimental experience, and the area of each deicing subarea is calculated based on the redundancy coefficient K, so that the heating film area is set according to the area, so that the ice in each deicing subarea is heated and melted by the heating film, avoiding the liquid in the deicing subarea far from the wing leading edge after the ice in the deicing subarea melts to form overflow ice and affect the aerodynamic force of the wing, and combining the vibration unit to deice in time. That is, in the present application, only the overflow ice that needs to be removed (i.e. the part of the overflow ice near the wing leading edge and affecting the aerodynamic force of the wing, see Figure 6 ) is deiced, and the unnecessary overflow ice (i.e. the part of the overflow ice that has little effect on the aerodynamic force of the wing, see Figure 6 ) is not deiced, which greatly reduces the energy consumption.

[0122] Example three: Since the wheel mechanism is used to deice each deicing subarea, and there is a certain time interval between adjacent deicing operations, when deicing the current deicing subarea, the water formed in the current deicing subarea during deicing may flow to the adjacent deicing subarea under the action of the airflow due to the turning of the aircraft, but since the adjacent deicing subarea may have completed deicing, or even if it is the next deicing subarea, deicing it still has a certain time interval, so when in a low temperature environment, ice layer may be reformed between adjacent deicing subareas, thereby making the deicing not clean or increasing the deicing difficulty of the next deicing subarea. Therefore, in order to reduce the probability of this situation, based on the same inventive concept, the present application also provides another control method, which includes the steps of the above examples, except that when heating the current deicing subarea, it further includes the step of:

[0123] S301A identifies at least one deicing subarea adjacent to the current deicing subarea, and if the adjacent deicing subarea has completed deicing, step S302A is performed, and if the adjacent deicing subarea is the next deicing subarea to be deiced, step S303A is performed.

[0124] S302A controls the vibration device of the adjacent deicing subarea to vibrate.

[0125] S303 A controls the heating units of adjacent de-icing zones to preheat.

[0126] As mentioned earlier, since all de-icing zones on the same wing are rotated sequentially, the current de-icing zone may be adjacent to one or two other de-icing zones. Furthermore, due to the different locations of the current de-icing zone, its adjacent de-icing zones may fall into two categories: those that are about to be de-iced and those that have already been de-iced. Therefore, different measures need to be adopted to reduce the probability of ice forming between two adjacent de-icing zones.

[0127] by Figure 4 For example, if the current de-icing zone is L03, and its two adjacent de-icing zones L02 and L04 are both in the current round-robin queue, and de-icing zone L02 has already completed its de-icing work, but de-icing zone L04 is the next zone to be de-iced. Therefore, when de-icing zone L03 is undergoing heating and de-icing, the water it produces may flow to de-icing zones L02 and / or L04. Since de-icing zone L04 itself requires heating before de-icing and already has a certain thickness of ice, it can be preheated simultaneously during the de-icing process of de-icing zone L03 (i.e., the heating unit corresponding to de-icing zone L04 is turned on for heating; preferably, the heating power during preheating is less than the heating power during de-icing). As for the de-icing zone L02, since it has already undergone de-icing (i.e., its surface has no ice layer or a very thin ice layer), its corresponding vibration device can be used to vibrate it, thereby changing the direction of the water flow, for example, directing it towards the overflow area, or making the water flow in this zone thinner. Preferably, the vibration power at this time is less than the vibration power during the de-icing process.

[0128] Example 4: Based on the same inventive concept, the present invention also provides another control method, which includes the steps of the above embodiments. The difference is that, since the circulating queue is dynamically adjusted in advance according to the degree of icing, when de-icing is performed in the current de-icing zone, the method further includes the following steps:

[0129] S301B determines whether at least one de-icing partition adjacent to the current de-icing partition is in the current round-robin queue. If yes, proceed to step S302B; otherwise, proceed to step S303B.

[0130] As mentioned earlier, since the circulation queue is adjusted in advance based on the degree of icing in each de-icing zone, the adjacent de-icing zones of the current de-icing zone may not be in the current circulation queue, or they may be in the current circulation queue. Therefore, different measures need to be taken for these two situations to reduce the probability of forming an "ice bridge" between two adjacent de-icing zones, or even to prevent the formation of an "ice bridge".

[0131] S302B judges whether the adjacent deicing subzone is the next deicing subzone to be deiced, and if so, step S304 is executed, otherwise, step S303 is executed until step S303.

[0132] S303 controls the vibration device of the adjacent deicing subzone to vibrate. Of course, the vibration frequency and the vibration amplitude of the vibration device at this time are all less than the vibration frequency and the vibration amplitude during the deicing process.

[0133] S304 controls the heating unit of the adjacent deicing subzone to preheat. Of course, the current of the electric heating device at this time is less than or equal to the current during the formal deicing process.

[0134] It is to be understood that the terms "including", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements recited, but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0135] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by means of software and a necessary general hardware platform, of course, they can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, an optical disk), and includes a plurality of instructions for causing a computer terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application.

[0136] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative and not limiting, and those skilled in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, which are all within the protection of the present application.

Claims

1. A low-energy de-icing system for limited airborne energy, characterized in that... include: Multiple de-icing zones are symmetrically arranged along the fuselage axis. Each de-icing zone is equipped with an independent heating device and a vibration device. The heating device is used to melt the ice layer to reduce the adhesion between the ice layer and the skin, and the vibration device is used to generate pulse vibrations on the skin to cause the ice layer on the skin to fall off. The heating device includes an electric heating film laid on the inner side of the skin, and the area of ​​the electric heating film is the same as the area of ​​the de-icing zone. The area of ​​the de-icing zone includes an ice accumulation area and an ice overflow area. The partition control module is used to perform partition rotation control on multiple de-icing partitions, so that multiple de-icing partitions take turns to perform de-icing work, and the de-icing partitions performing de-icing simultaneously are symmetrical along the fuselage axis. The startup module is used to start the partition control module to control the de-icing partition to perform de-icing work according to preset de-icing conditions; the preset de-icing conditions are at least one of the following: the current ambient temperature is lower than a threshold temperature, the icing sensor detects icing, or the partition is within an icing cloud; and / or, it is used to determine whether at least one de-icing partition adjacent to the current de-icing partition is in the current loop queue; if at least one de-icing partition adjacent to the current de-icing partition is in the current loop queue, it determines whether the adjacent de-icing partition is the next de-icing partition to be de-iced; if the adjacent de-icing partition is the next de-icing partition to be de-iced, it controls the vibration device of the adjacent de-icing partition to preheat; if the adjacent de-icing partition has already completed de-icing, it controls the heating unit of the adjacent de-icing partition to vibrate. Each cycle includes several partition working times; the number of partition working times is at least 1 / 2 of the number of de-icing partitions, such that at least two de-icing partitions symmetrically arranged along the fuselage axis work simultaneously during each partition working time; there are intervals between the partition working times; the partition working time includes the working time of the heating device, the delay time, and the working time of the vibration device arranged sequentially.

2. A low-energy de-icing system for limited airborne energy as described in claim 1, characterized in that: The electric heating film includes an insulating layer, a protective layer, and a heating layer; and / or, the vibration device includes a vibration exciter formed by winding a metal film, the vibration exciter being disposed between the skin and the structural member.

3. A low-energy de-icing system for limited airborne energy as described in claim 1, characterized in that... Also includes: Temperature sensors are installed in each de-icing zone to monitor the skin temperature. Correspondingly, the zone control module is also used to dynamically adjust the working time of the heating device in each de-icing zone according to the temperature monitored in real time by the temperature sensors. Specifically, the current ambient temperature is obtained, and a preset heating device working time is matched according to the current ambient temperature. Then, the temperature data monitored by the temperature sensors in each de-icing zone is obtained, and it is determined whether the current temperature data is greater than or equal to a preset temperature threshold after the heating device working time. If so, the heating device is controlled to stop heating; otherwise, the heating device is controlled to continue heating until the skin temperature reaches the preset temperature threshold. Then, the actual heating working time is recorded, and the actual heating working time is used as the heating device working time of the de-icing zone under the current ambient temperature. And / or, It also includes: sensors set in each de-icing zone to detect the degree of icing. Accordingly, the zone control module is also used to dynamically adjust the circulation queue for each circulation cycle. Specifically, it obtains the degree of icing in each icing zone and determines whether the degree of icing in each icing zone is greater than or equal to a preset icing threshold. If so, it includes the de-icing zone in the current circulation queue.

4. A low-energy de-icing system for limited airborne energy as described in claim 1, characterized in that: The de-icing zones are rectangular in shape, and multiple de-icing zones are located on the windward side of the wing or tail and arranged along the extension direction of the wing or tail.

5. A control method for a low-energy de-icing system with limited airborne energy, applied to the de-icing system according to any one of claims 1 to 4, characterized in that... include: De-icing zones are defined according to the maximum de-icing power provided by the power supply system; Set the polling cycle, and each polling cycle includes the working time of several partitions; The number of working times for each zone is at least half the number of de-icing zones, such that at least two de-icing zones symmetrically arranged along the fuselage axis work simultaneously during each zone's working time; there are intervals between the working times of the zones; the working time of each zone includes the working time of the heating device, the delay time, and the working time of the vibration device arranged sequentially. De-icing is performed based on the cycle control of the heating and vibration devices; The steps for defining de-icing zones based on the maximum de-icing power provided by the power supply system include: The maximum area of ​​a single de-icing zone is calculated using the formula s≤Q / (q*n), where s is the maximum area of ​​the de-icing zone, Q is the maximum de-icing power, q is the power of the electric heating film per unit area, and n is the number of de-icing zones operating simultaneously; where q satisfies the requirement that the skin reaches a specified temperature within a preset time; the area of ​​the de-icing zone includes the ice accumulation area and the overflow ice area.

6. The control method for a low-energy de-icing system with limited airborne energy as described in claim 5, characterized in that: The length L of the de-icing zone is preset, and the width M is set according to the maximum area s of the de-icing zone. The length of the de-icing zone is calculated using the formula L=L0*K, where L is the length of the de-icing zone, L0 is the ideal length of the de-icing zone, and K is the redundancy coefficient.

7. A control method for a low-energy de-icing system with limited airborne energy as described in claim 5, characterized in that... It also includes the step of dynamically adjusting the operating time of the heating device in each de-icing zone, specifically, The system acquires the current ambient temperature and matches it to a preset heating device operating time. It also acquires temperature data monitored by temperature sensors in each de-icing zone and determines whether the current temperature data is greater than or equal to a preset temperature threshold after the heating device has operated for the specified time. If so, the heating device is stopped; otherwise, it continues heating until the skin temperature reaches the preset temperature threshold. The actual heating time is then recorded and updated to reflect the heating device operating time for the de-icing zone at the current ambient temperature. Alternatively... The circulation queue for each circulation cycle is dynamically adjusted based on the degree of icing in each de-icing zone. Specifically, Obtain the icing degree of each icing zone and determine whether the icing degree of each icing zone is greater than or equal to the preset icing threshold. If so, add the de-icing zone to the current round-robin queue.

8. A control method for a low-energy de-icing system with limited airborne energy as described in claim 7, characterized in that... It also includes the following steps: S301A identifies the type of at least one de-icing partition adjacent to the current de-icing partition. If it is the next de-icing partition to be de-iced, proceed to step S302A. If it is a de-icing partition that has already been de-iced, proceed to step S303A. S302A controls the heating units of adjacent de-icing zones to preheat; S303A controls the vibration devices in adjacent de-icing zones to vibrate.

9. A control method for a low-energy de-icing system with limited airborne energy as described in claim 7, characterized in that... It also includes the following steps: S301B determines whether at least one de-icing partition adjacent to the current de-icing partition is in the current round-robin queue. If yes, proceed to step S302B; otherwise, proceed to step S303B. S302B determines whether the adjacent de-icing zone is the next de-icing zone to be de-iced. If yes, proceed to step S304B; otherwise, proceed to step S303B. S303B controls the vibration devices in adjacent de-icing zones to vibrate; S304B controls the heating units of adjacent de-icing zones to preheat.

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