A backup power supply system for tethered multi-rotor drone

Abstract

The present invention discloses a backup power supply system for a tethered multi-rotor UAV. The backup power supply device adopts a series-connected supercapacitor group as an energy storage device, which effectively solves the problem of adaptability of the backup power supply of the tethered multi-rotor UAV to low-temperature environments and broadens its application scenarios, so that when an abnormality occurs during the self-landing process of the backup power of the multi-rotor UAV, a remote controller intervenes in the control to ensure the safety of the platform and the load; a main control unit monitors the operating status of the series-connected supercapacitor group in real time, and balances the voltage of the supercapacitor through a balancing unit, effectively solving the problem of voltage balancing of each supercapacitor in the series-connected supercapacitor group, avoiding the impact of individual differences on the performance and service life of the backup power supply, and reducing maintenance costs.

Description

Technical Field

[0001] The invention relates to the technical field of power supply, and in particular to a backup power supply system for a tethered multi-rotor unmanned aerial vehicle. Background Art

[0002] The tethered multi-rotor drone is a new type of drone system that combines a multi-rotor drone with a tethered integrated cable. The essential difference between it and ordinary multi-rotor drones is that the power supply method is changed from airborne lithium batteries to direct power supply from ground power supplies. During the flight, the power supply equipment transmits power to the drone through wires, so that the drone is not limited by power and can stay in the air for a long time; because it solves the endurance problem of ordinary multi-rotor drones, tethered multi-rotor drones are considered to be a major trend in the future development of drones.

[0003] The tethered multi-rotor UAV system requires a certain period of communication control capability after the external power supply is interrupted, so that the multi-rotor UAV can be powered on and landed automatically and controlled by remote controller in abnormal situations, ensuring the safety of the platform and payload. At present, conventional backup power supplies mostly use lithium batteries with high energy density as energy storage devices. Since the temperature environment of the tethered multi-rotor UAV system requires -40 to 55°C, the lithium battery backup power supply needs to be heated to solve the low-temperature charging and discharging problem, which increases the complexity and maintenance cost of the system.

[0004] However, the single cell voltage of the supercapacitor itself is relatively low, and it needs to be used in series in the tethered multi-rotor UAV system. At the same time, due to the constraints of factors such as materials and manufacturing levels, there are obvious inconsistencies in parameters such as the equivalent capacitance and equivalent series resistance between supercapacitor cells. Direct application in tethered multi-rotor UAV systems will cause the performance of the supercapacitor group to be restricted by the worst single cell due to the barrel effect, and the performance will continue to increase with time and the number of cycles, affecting the output characteristics and life of the supercapacitor module, and even causing failures. Summary of the invention

[0005] The technical problem to be solved by the present invention is that the conventional lithium battery backup power supply of the tethered multi-rotor UAV system is difficult to meet the system's operating temperature environment. When heating treatment is used to solve the low-temperature charging and discharging problem, the complexity and maintenance cost of the system are increased. The purpose of the present invention is to provide a tethered multi-rotor UAV backup power supply system to solve the above technical problems.

[0006] The present invention is achieved through the following technical solutions:

[0007] This solution provides a tethered multi-rotor drone backup power supply system, including: a charging unit, a main control unit, a power module, a balancing unit, a discharge unit and a series supercapacitor group;

[0008] The power module charges the series supercapacitor group through the charging unit, and the series supercapacitor group discharges to the tethered multi-rotor drone through the discharging unit; the balancing unit balances the voltage of the series supercapacitor group;

[0009] The main control unit monitors the operating status of the series supercapacitor group in real time and controls the charging unit, the discharging unit and the balancing unit according to the monitoring result.

[0010] Working principle of this solution: The conventional lithium battery backup power supply of the tethered multi-rotor UAV system is difficult to meet the system's operating temperature environment. When the heating treatment is used to solve the low-temperature charging and discharging problem, the system complexity and maintenance cost are increased. The backup power supply device in this solution uses a series supercapacitor group as an energy storage device, which effectively solves the low-temperature environment adaptability problem of the tethered multi-rotor UAV backup power supply and broadens its application scenarios, so that when an abnormality occurs during the self-landing process of the multi-rotor UAV backup power, the remote control can intervene in the control to ensure the safety of the platform and the payload; the main control unit monitors the operating status of the series supercapacitor group in real time, and balances the voltage of the supercapacitor through the balancing unit, effectively solving the voltage balancing problem of each supercapacitor in the series supercapacitor group, avoiding the impact of individual differences on the performance and service life of the backup power supply, and reducing maintenance costs.

[0011] A further optimization scheme is that the series supercapacitor group is composed of at least 5 supercapacitor monomers connected in series. As a new type of energy storage device, supercapacitors have the advantages of high power density, fast charging and discharging speed (greater than 90%), long cycle life (more than one million times), and wide operating temperature range (-40 to 70°C). The single-cell voltage of supercapacitors themselves is relatively low, and they need to be used in series in tethered multi-rotor UAV systems; the series supercapacitor group is composed of the same supercapacitors connected in series. As an energy storage device for the backup power supply device, it provides power supply for a certain period of time when the external power supply of the tethered multi-rotor UAV system is disconnected.

[0012] A further optimized solution is that the supercapacitor monomer structure is: the first negative terminal, the second negative terminal, the third negative terminal and the fourth negative terminal of the supercapacitor CAP are connected to the GND terminal of the chip IMP809SEUR; one end of the resistor R1 is connected to the VCC terminal of the chip IMP809SEUR, and the other end of the resistor R1 is connected to the drain of the field effect tube Q; the resistor R2 and the resistor R3 are respectively connected in parallel on both sides of the resistor R1; the source of the first field effect tube K is connected to the GND terminal of the chip IMP809SEUR, and the gate of the first field effect tube K is connected to the RESET terminal of the chip IMP809SEUR;

[0013] The positive electrode of the supercapacitor CAP and the VCC terminal of the chip IMP809SEUR are both connected to any negative terminal of the supercapacitor CAP in the next supercapacitor monomer structure.

[0014] A further optimization scheme is that the balancing unit includes a supercapacitor management chip and a peripheral balancing circuit, and each supercapacitor monomer structure is matched with a peripheral balancing circuit;

[0015] The peripheral balancing circuit includes: one end of the resistor R4 is connected to the source of the second field effect transistor Q, and the other end is connected to the gate of the second field effect transistor Q; one end of the capacitor C1 is connected to the source of the second field effect transistor Q, and the other end is grounded; one end of the resistor R5 is connected to the drain of the second field effect transistor Q, and the other end is grounded or connected to the peripheral balancing circuit matched with the previous super capacitor monomer structure; the source of the second field effect transistor Q is connected to the super capacitor management chip. One end of the resistor R6 is connected to the gate of the second field effect transistor Q, and the other end is connected in series with the resistor R7 and then grounded, and a line is drawn from the resistor R6 and the resistor R7 to connect the super capacitor management chip.

[0016] Since the single cell voltage of supercapacitors is relatively low, they need to be used in series in tethered multi-rotor UAV systems. At the same time, due to the constraints of factors such as materials and manufacturing levels, there are obvious inconsistencies in parameters such as the equivalent capacitance and equivalent series resistance between supercapacitor cells, resulting in the performance of the supercapacitor group being restricted by the worst cell due to the barrel effect. This will also increase with time and the number of cycles, affecting the output characteristics and life of the supercapacitor module, and even causing system failures. Therefore, in order to improve the performance and reliability of the supercapacitor group energy storage module, supercapacitor cell voltage balancing is an indispensable part of the system.

[0017] A further optimization scheme is that the supercapacitor management chip is used to monitor the operating status information of the series supercapacitor group and report it to the main control unit via the I2C bus. The operating status information of the series supercapacitor group includes the current of the series supercapacitor group, the voltage of the series supercapacitor group and the temperature information of the series supercapacitor group.

[0018] The main control unit communicates with the supercapacitor management chip through the I2C bus to obtain the voltage, current and temperature data of the supercapacitor group in real time; the main control unit feeds back the status information of the supercapacitor group to the tethered multi-rotor UAV system through the CAN bus interface.

[0019] The main control unit triggers the balancing mechanism according to the voltage status of the supercapacitor monomer, effectively controlling the voltage consistency of the supercapacitor monomer.

[0020] A further optimized solution is that the discharge unit includes a power management chip TPS54320 and its peripheral circuits;

[0021] The peripheral circuit includes: one end of the resistor R8 is grounded, and the other end is connected to the RT pin of the chip TPS54320; the VIN pin, PVIN1 pin and PVIN2 pin of the chip TPS54320 are connected together and then connected to the resistor R9; the other end of the resistor R9 is connected to the EN pin of the chip TPS54320; one end of the resistor R10 is connected to the EN pin of the chip TPS54320, and the other end is grounded; one end of the capacitor C2 is grounded, and the other end is connected to the PVIN2 pin of the chip TPS54320; the capacitor C3 is connected in parallel to both ends of the capacitor C2;

[0022] The GND1 pin, GND2 pin and ETPad pin of the TPS54320 chip are all grounded;

[0023] One end of capacitor C4 is connected to the BOOT pin of chip TPS54320, and the other end is connected to the inductor L and then connected to the power supply VDD. One end of capacitor C7 is connected to the power supply VDD, and the other end is grounded. Capacitor C8 is connected in parallel on both sides of capacitor C7. The PH1 pin and PH2 pin of chip TPS54320 are connected together and then connected between capacitor C4 and inductor L. One end of capacitor C9 is connected to the power supply VDD, and the other end is connected to the VSENSE pin of chip TPS54320. Resistor R12 is connected in parallel on both sides of capacitor C9. One end of resistor R13 is connected to the VSENSE pin of chip TPS54320, and the other end is grounded.

[0024] One end of capacitor C5 is connected to the SS pin of chip TPS54320, and the other end is grounded; one end of capacitor C6 is connected to the COMP pin of chip TPS54320, and the other end is grounded; one end of the resistor is connected to the COMP pin of chip TPS54320, and the other end is connected in series with capacitor C10 and then grounded.

[0025] A further optimization solution is that the power module is composed of VRB4824LD-50WR3 to achieve isolated input power and power conversion.

[0026] A further optimized solution is that the circuit of the charging unit includes:

[0027] One end of the resistor R12 is connected to the first power supply VDD1, and the other end is connected in series with the capacitor C11 and then grounded; the positive electrode of the diode D1 is connected to the first power supply VDD1, and the negative electrode is connected to the gate of the third field effect transistor M1, and the VCC pin of the charging chip BQ24640 is connected in series with the capacitor C14 and then grounded; one end of the capacitor C16 is connected to the gate of the third field effect transistor M1, and one end is grounded, and the capacitor C17 is connected in parallel to both sides of the capacitor C16; one end of the capacitor R20 is connected to the VCC pin of the charging chip BQ24640, and the other end is connected to the negative electrode of the diode D1;

[0028] The VREF pin of the charging chip BQ24640 is short-circuited with the CE pin; one end of the capacitor C12 is connected to the VREF pin of the charging chip BQ24640, and the other end is grounded; one end of the resistor R16 is connected to the VREF pin of the charging chip BQ24640, and the other end is connected to the ISET pin of the charging chip BQ24640; one end of the resistor R17 is connected to the ISET pin of the charging chip BQ24640, and the other end is connected to the GND pin of the charging chip BQ24640, and the GND pin of the charging chip BQ24640 is grounded; one end of the capacitor C13 is connected to the Connect to the TS pin of the charging chip BQ24640, and the other end is connected to the TPAD pin of the charging chip BQ24640; the TPAD pin of the charging chip BQ24640 is short-circuited with the GND pin; one end of the resistor R13 is connected to the VREF pin of the charging chip BQ24640, and the other end is connected in series with the resistor R14 and then connected to the GND pin of the charging chip BQ24640; one end of the resistor R15 is connected to the TS pin of the charging chip BQ24640, and the other end is connected between the resistor R13 and the resistor R14; the thermistor RT is connected in parallel on both sides of the resistor R14;

[0029] One end of the resistor R18 is connected to the STAT pin of the charging chip BQ24640, and the other end is connected to the cathode of the light-emitting diode D4. The anode of the light-emitting diode D4 is connected to the second power supply VDD2. One end of the resistor R19 is connected to the STAT pin of the charging chip BQ24640. The other end of the pin is connected to the cathode of the light emitting diode D5, and the anode of the light emitting diode D5 is connected to the second power supply VDD2;

[0030] The HIDRV pin of the charging chip BQ24640 is connected to the source of the third field effect transistor M1, one end of the inductor L2 is connected to the drain of the third field effect transistor M1, and the other end is connected to the SRN pin of the charging chip BQ24640; one end of the resistor R21 is connected to the SRP pin of the charging chip BQ24640, and the other end is connected to the SRN pin of the charging chip BQ24640, and the capacitor C19 is connected in parallel on both sides of the resistor R21;

[0031] The drain of the third field effect transistor M1 is connected to the PH pin of the charging chip BQ24640; one end of the capacitor C15 is connected to the BTST pin of the charging chip BQ24640, and the other end is connected to the source of the third field effect transistor M1;

[0032] The gate of the fourth field effect transistor M2 is connected to the LODRV pin of the charging chip BQ24640, and the drain of the fourth field effect transistor M2 is connected to the source of the third field effect transistor M1; the source of the fourth field effect transistor M2 is grounded, the anode of the diode D2 and the anode of the diode D3 are connected to the RENG pin of the charging chip BQ24640, and the cathode of the diode D2 and the cathode of the diode D3 are connected to the BTST pin of the charging chip BQ24640; one end of the capacitor C19 is connected to the anode of the diode D2, and the other end is connected to the source of the fourth field effect transistor M2; one end of the capacitor C18 is connected to the source of the fourth field effect transistor M2, and the other end is connected to the SRP pin of the charging chip BQ24640.

[0033] A further optimization scheme is that the circuit of the charging unit further includes:

[0034] One end of capacitor C20 is connected to the SRN pin of the charging chip BQ24640, and the other end is grounded; capacitor C21 is connected in parallel on both sides of capacitor C20; one end of resistor R22 is connected to the SRN pin of the charging chip BQ24640, and the other end is connected to the VFB pin of the charging chip BQ24640; capacitor C22 is connected in parallel on both sides of resistor R22;

[0035] The third power source VDD3 is connected to the SRN pin of the charging chip BQ24640; one end of the resistor R24 ​​is connected to the SRN pin of the charging chip BQ24640, and the other end is grounded;

[0036] One end of the resistor R23 is connected to the VFB pin of the charging chip BQ24640, and the other end is connected to the drain of the fifth field effect transistor M3. The source of the fifth field effect transistor M3 is grounded, and the gate of the fifth field effect transistor M3 is connected to the balancing unit; one end of the resistor R25 is connected to the VFB pin of the charging chip BQ24640, and the other end is connected to the drain of the sixth field effect transistor M4. The source of the sixth field effect transistor M4 is grounded, and the gate of the sixth field effect transistor M4 is connected to the balancing unit.

[0037] The charging unit is composed of a DC-DC power conversion chip and its peripheral circuits, which provide constant current and constant voltage charging for the supercapacitor.

[0038] The charging and discharging units of the backup power system for tethered multi-rotor drones integrate isolation circuits, which effectively avoid supercapacitor discharge when the external power supply is supplied and power consumption of the internal circuit of the backup power supply when the external power supply is cut off, greatly improving the utilization rate of supercapacitor energy storage, reducing costs, and saving space.

[0039] The main control unit is composed of a single-chip microcomputer C8051F500 and its peripheral circuits. It reads the register data of the supercapacitor management chip through the I2C bus, controls the charging MOS tube switch to charge the supercapacitor according to the status, and feeds back the status information to the host computer through the CAN bus. The CAN bus interface is easy to expand the backup power supply device without adding external interfaces.

[0040] A further optimization scheme is to further include a host computer, wherein the main control unit includes a single-chip microcomputer C8051F500, and the single-chip microcomputer C8051F500 feeds back the operating status information of the series supercapacitor group to the host computer via the CAN bus.

[0041] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0042] The present invention provides a tethered multi-rotor UAV backup power supply system, in which a backup power supply device adopts a series-connected supercapacitor group as an energy storage device, which effectively solves the problem of adaptability of the tethered multi-rotor UAV backup power supply to low-temperature environments and broadens its application scenarios, so that when an abnormality occurs during the backup power self-landing process of the multi-rotor UAV, a remote control intervenes in the control to ensure the safety of the platform and the load; a main control unit monitors the operating status of the series-connected supercapacitor group in real time, and balances the voltage of the supercapacitor through a balancing unit, effectively solving the voltage balancing problem of each supercapacitor in the series-connected supercapacitor group, avoiding the impact of individual differences on the performance and service life of the backup power supply, and reducing maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0044] Figure 1 This is a schematic diagram of the structure of the backup power supply system for a tethered multi-rotor drone;

[0045] Figure 2 It is a schematic diagram of the structure of a series supercapacitor group;

[0046] Figure 3 It is a schematic diagram of the structure of the balancing unit;

[0047] Figure 4 is a schematic diagram of the discharge unit structure;

[0048] Figure 5 It is a schematic diagram of the charging unit structure. DETAILED DESCRIPTION

[0049] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0050] Example 1

[0051] This embodiment provides a tethered multi-rotor drone backup power supply system, such as Figure 1 As shown, it includes: a charging unit, a main control unit, a power module, a balancing unit, a discharge unit and a series supercapacitor group;

[0052] The power module charges the series supercapacitor group through the charging unit, and the series supercapacitor group discharges to the tethered multi-rotor drone through the discharging unit; the balancing unit balances the voltage of the series supercapacitor group;

[0053] The main control unit monitors the operating status of the series supercapacitor group in real time and controls the charging unit, the discharging unit and the balancing unit according to the monitoring result.

[0054] like Figure 2 As shown, the series supercapacitor group in this embodiment is composed of at least 5 supercapacitor monomers connected in series.

[0055] The supercapacitor monomer structure is:

[0056] The first negative terminal, the second negative terminal, the third negative terminal and the fourth negative terminal of the supercapacitor CAP are connected to the GND terminal of the chip IMP809SEUR; one end of the resistor R1 is connected to the VCC terminal of the chip IMP809SEUR, and the other end of the resistor R1 is connected to the drain of the field effect tube Q; the resistor R2 and the resistor R3 are respectively connected in parallel on both sides of the resistor R1; the source of the first field effect tube K is connected to the GND terminal of the chip IMP809SEUR, and the gate of the first field effect tube K is connected to the RESET terminal of the chip IMP809SEUR;

[0057] The positive electrode of the supercapacitor CAP and the VCC terminal of the chip IMP809SEUR are both connected to any negative terminal of the supercapacitor CAP in the next supercapacitor monomer structure.

[0058] The series supercapacitor group is composed of 5 370F supercapacitor monomer structures. As an energy storage device for the backup power supply device, the implementation case needs to use a 370F supercapacitor monomer structure, but is not limited to 370F.

[0059] like Figure 3As shown, the balancing unit includes a supercapacitor management chip and a peripheral balancing circuit, and each supercapacitor monomer structure matches a peripheral balancing circuit; in addition to the following structure, the peripheral balancing circuit at the end also includes resistors R6 and R7 connected in series and connected to the supercapacitor management chip.

[0060] The peripheral balancing circuit includes: one end of the resistor R4 is connected to the source of the second field effect transistor Q, and the other end is connected to the gate of the second field effect transistor Q; one end of the capacitor C1 is connected to the source of the second field effect transistor Q, and the other end is grounded; one end of the resistor R5 is connected to the drain of the second field effect transistor Q, and the other end is grounded or connected to the peripheral balancing circuit matched with the previous super capacitor monomer structure; the source of the second field effect transistor Q is connected to the super capacitor management chip. One end of the resistor R6 is connected to the gate of the second field effect transistor Q, and the other end is connected in series with the resistor R7 and then grounded, and a line is drawn from the resistor R6 and the resistor R7 to connect the super capacitor management chip.

[0061] The supercapacitor management chip is used to monitor the operating status information of the series supercapacitor group and report it to the main control unit through the I2C bus. The operating status information of the series supercapacitor group includes the current of the series supercapacitor group, the voltage of the series supercapacitor group and the temperature information of the series supercapacitor group.

[0062] The main control unit triggers the balancing mechanism according to the voltage status of the supercapacitor monomer, effectively controlling the voltage consistency of the supercapacitor monomer.

[0063] like Figure 4 As shown, the discharge unit includes a power management chip TPS54320 and its peripheral circuits;

[0064] The peripheral circuit includes: one end of the resistor R8 is grounded, and the other end is connected to the RT pin of the chip TPS54320; the VIN pin, PVIN1 pin and PVIN2 pin of the chip TPS54320 are connected together and then connected to the resistor R9; the other end of the resistor R9 is connected to the EN pin of the chip TPS54320; one end of the resistor R10 is connected to the EN pin of the chip TPS54320, and the other end is grounded; one end of the capacitor C2 is grounded, and the other end is connected to the PVIN2 pin of the chip TPS54320; the capacitor C3 is connected in parallel to both ends of the capacitor C2;

[0065] The GND1 pin, GND2 pin and ETPad pin of the TPS54320 chip are all grounded;

[0066] One end of capacitor C4 is connected to the BOOT pin of chip TPS54320, and the other end is connected to the inductor L and then connected to the power supply VDD. One end of capacitor C7 is connected to the power supply VDD, and the other end is grounded. Capacitor C8 is connected in parallel on both sides of capacitor C7. The PH1 pin and PH2 pin of chip TPS54320 are connected together and then connected between capacitor C4 and inductor L. One end of capacitor C9 is connected to the power supply VDD, and the other end is connected to the VSENSE pin of chip TPS54320. Resistor R12 is connected in parallel on both sides of capacitor C9. One end of resistor R13 is connected to the VSENSE pin of chip TPS54320, and the other end is grounded.

[0067] One end of capacitor C5 is connected to the SS pin of chip TPS54320, and the other end is grounded; one end of capacitor C6 is connected to the COMP pin of chip TPS54320, and the other end is grounded; one end of the resistor is connected to the COMP pin of chip TPS54320, and the other end is connected in series with capacitor C10 and then grounded.

[0068] The discharge unit is composed of a power management chip TPS54320 and its peripheral circuits, resistors R12 and R13 form an output voltage configuration circuit, and inductor L and capacitors C7 and C8 form an LC filter circuit.

[0069] The power supply module is composed of VRB4824LD-50WR3, which realizes isolation of input power and power conversion.

[0070] like Figure 5 As shown, the circuit of the charging unit includes:

[0071] One end of the resistor R12 is connected to the first power supply VDD1, and the other end is connected in series with the capacitor C11 and then grounded; the positive electrode of the diode D1 is connected to the first power supply VDD1, and the negative electrode is connected to the gate of the third field effect transistor M1, and the VCC pin of the charging chip BQ24640 is connected in series with the capacitor C14 and then grounded; one end of the capacitor C16 is connected to the gate of the third field effect transistor M1, and one end is grounded, and the capacitor C17 is connected in parallel to both sides of the capacitor C16; one end of the capacitor R20 is connected to the VCC pin of the charging chip BQ24640, and the other end is connected to the negative electrode of the diode D1;

[0072] The VREF pin of the charging chip BQ24640 is short-circuited with the CE pin; one end of the capacitor C12 is connected to the VREF pin of the charging chip BQ24640, and the other end is grounded; one end of the resistor R16 is connected to the VREF pin of the charging chip BQ24640, and the other end is connected to the ISET pin of the charging chip BQ24640; one end of the resistor R17 is connected to the ISET pin of the charging chip BQ24640, and the other end is connected to the GND pin of the charging chip BQ24640, and the GND pin of the charging chip BQ24640 is grounded; one end of the capacitor C13 is connected to the Connect to the TS pin of the charging chip BQ24640, and the other end is connected to the TPAD pin of the charging chip BQ24640; the TPAD pin of the charging chip BQ24640 is short-circuited with the GND pin; one end of the resistor R13 is connected to the VREF pin of the charging chip BQ24640, and the other end is connected in series with the resistor R14 and then connected to the GND pin of the charging chip BQ24640; one end of the resistor R15 is connected to the TS pin of the charging chip BQ24640, and the other end is connected between the resistor R13 and the resistor R14; the thermistor RT is connected in parallel on both sides of the resistor R14;

[0073] One end of the resistor R18 is connected to the STAT pin of the charging chip BQ24640, and the other end is connected to the cathode of the light-emitting diode D4. The anode of the light-emitting diode D4 is connected to the second power supply VDD2. One end of the resistor R19 is connected to the STAT pin of the charging chip BQ24640. The other end of the pin is connected to the cathode of the light emitting diode D5, and the anode of the light emitting diode D5 is connected to the second power supply VDD2;

[0074] The HIDRV pin of the charging chip BQ24640 is connected to the source of the third field effect transistor M1, one end of the inductor L2 is connected to the drain of the third field effect transistor M1, and the other end is connected to the SRN pin of the charging chip BQ24640; one end of the resistor R21 is connected to the SRP pin of the charging chip BQ24640, and the other end is connected to the SRN pin of the charging chip BQ24640, and the capacitor C19 is connected in parallel on both sides of the resistor R21;

[0075] The drain of the third field effect transistor M1 is connected to the PH pin of the charging chip BQ24640; one end of the capacitor C15 is connected to the BTST pin of the charging chip BQ24640, and the other end is connected to the source of the third field effect transistor M1;

[0076] The gate of the fourth field effect transistor M2 is connected to the LODRV pin of the charging chip BQ24640, and the drain of the fourth field effect transistor M2 is connected to the source of the third field effect transistor M1; the source of the fourth field effect transistor M2 is grounded, the anode of the diode D2 and the anode of the diode D3 are connected to the RENG pin of the charging chip BQ24640, and the cathode of the diode D2 and the cathode of the diode D3 are connected to the BTST pin of the charging chip BQ24640; one end of the capacitor C19 is connected to the anode of the diode D2, and the other end is connected to the source of the fourth field effect transistor M2; one end of the capacitor C18 is connected to the source of the fourth field effect transistor M2, and the other end is connected to the SRP pin of the charging chip BQ24640.

[0077] The circuit of the charging unit also includes:

[0078] One end of capacitor C20 is connected to the SRN pin of the charging chip BQ24640, and the other end is grounded; capacitor C21 is connected in parallel on both sides of capacitor C20; one end of resistor R22 is connected to the SRN pin of the charging chip BQ24640, and the other end is connected to the VFB pin of the charging chip BQ24640; capacitor C22 is connected in parallel on both sides of resistor R22;

[0079] The third power source VDD3 is connected to the SRN pin of the charging chip BQ24640; one end of the resistor R24 ​​is connected to the SRN pin of the charging chip BQ24640, and the other end is grounded;

[0080] One end of the resistor R23 is connected to the VFB pin of the charging chip BQ24640, and the other end is connected to the drain of the fifth field effect transistor M3. The source of the fifth field effect transistor M3 is grounded, and the gate of the fifth field effect transistor M3 is connected to the balancing unit; one end of the resistor R25 is connected to the VFB pin of the charging chip BQ24640, and the other end is connected to the drain of the sixth field effect transistor M4. The source of the sixth field effect transistor M4 is grounded, and the gate of the sixth field effect transistor M4 is connected to the balancing unit.

[0081] The charging unit is composed of a supercapacitor charging chip BQ24640 and its peripheral circuits, wherein resistors R13, R14, R15, R16 and R17 configure the charging current, resistor R21 is used to detect the charging current, resistors R22, R23, R24 and R25 are used to configure the charging voltage, the third field effect transistor M1 and the fourth field effect transistor M2 form upper and lower bridge arms to adjust the output voltage, L2 and C18 form a filter circuit to suppress current mutations and power supply ripples, the fifth field effect transistor M3 and the sixth field effect transistor M4 control the charging power supply of the supercapacitor group through the main control unit, wherein the supercapacitor charging chip is not limited to BQ24640, and is also applicable to chips with current limiting output and meeting voltage conversion requirements.

[0082] It also includes a host computer, wherein the main control unit includes a single-chip microcomputer C8051F500, and the single-chip microcomputer C8051F500 feeds back the operating status information of the series supercapacitor group to the host computer through the CAN bus.

[0083] The input power supply voltage is converted into the voltage required by the charging unit and the main control unit through a DC-DC power supply module; the charging unit is configured with a 15V output and a 3A current limit, and the discharge unit isolates the backup power supply from the load to prevent the main power from flowing back into the load; the main control unit reads the supercapacitor management chip information through the I2C bus, collects the current and temperature of the supercapacitor group and the voltage data of the supercapacitor monomer in real time, controls the balancing unit to manage the charge state of the supercapacitor group, overcomes the individual differences of the supercapacitors, controls the balancing unit to charge a single supercapacitor, greatly improves the utilization rate of the supercapacitor group, and reports the status of the backup power supply via the CAN bus.

[0084] The backup power supply uses the strong temperature environment adaptability of supercapacitors and can be charged and discharged at low temperatures of -40°C, effectively solving the problem of low temperature environment adaptability of the backup power supply and broadening the application scenarios of tethered multi-rotor UAV systems. In order to ensure the safety of the platform and payload when the multi-rotor UAV backup power self-landing process is abnormal, the remote control can intervene in the control.

[0085] The supercapacitor management chip is used to monitor the voltage, current and temperature status of the series supercapacitor group in real time, and to balance the voltage of the supercapacitors, effectively solving the voltage balance problem of each supercapacitor in the series supercapacitor group and avoiding the performance and service life of the backup power supply affected by individual differences.

[0086] The discharge unit of the backup power supply integrates an isolation circuit, which effectively prevents the supercapacitor from discharging when powered by an external power supply, greatly improving the utilization rate of supercapacitor energy storage, reducing costs and saving space.

[0087] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A tethered multi-rotor drone backup power supply system, characterized in that: include: Charging unit, main control unit, power module, balancing unit, discharge unit and series supercapacitor group; The power module charges the series supercapacitor group through the charging unit, and the series supercapacitor group discharges to the tethered multi-rotor drone through the discharging unit; the balancing unit balances the voltage of the series supercapacitor group; The main control unit obtains the operating status of the series supercapacitor group in real time and controls the charging unit, the discharging unit and the balancing unit according to the monitoring results; The series supercapacitor group is composed of at least 5 supercapacitor monomers connected in series; The supercapacitor monomer structure is: The first negative terminal, the second negative terminal, the third negative terminal and the fourth negative terminal of the supercapacitor CAP are connected to the GND terminal of the chip IMP809SEUR; one end of the resistor R1 is connected to the VCC terminal of the chip IMP809SEUR, and the other end of the resistor R1 is connected to the drain of the field effect tube Q; the resistor R2 and the resistor R3 are respectively connected in parallel on both sides of the resistor R1; the source of the first field effect tube K is connected to the GND terminal of the chip IMP809SEUR, and the gate of the first field effect tube K is connected to the RESET terminal of the chip IMP809SEUR; The positive electrode of the supercapacitor CAP and the VCC terminal of the chip IMP809SEUR are both connected to any negative terminal of the supercapacitor CAP in the next supercapacitor monomer structure; The circuit of the charging unit comprises: One end of the resistor R12 is connected to the first power supply VDD1, and the other end is connected in series with the capacitor C11 and then grounded; the positive electrode of the diode D1 is connected to the first power supply VDD1, and the negative electrode is connected to the gate of the third field effect transistor M1, and the VCC pin of the charging chip BQ24640 is connected in series with the capacitor C14 and then grounded; one end of the capacitor C16 is connected to the gate of the third field effect transistor M1, and one end is grounded, and the capacitor C17 is connected in parallel to both sides of the capacitor C16; one end of the capacitor R20 is connected to the VCC pin of the charging chip BQ24640, and the other end is connected to the negative electrode of the diode D1; The VREF pin of the charging chip BQ24640 is short-circuited with the CE pin; one end of the capacitor C12 is connected to the VREF pin of the charging chip BQ24640, and the other end is grounded; one end of the resistor R16 is connected to the VREF pin of the charging chip BQ24640, and the other end is connected to the ISET pin of the charging chip BQ24640; one end of the resistor R17 is connected to the ISET pin of the charging chip BQ24640, and the other end is connected to the GND pin of the charging chip BQ24640, and the GND pin of the charging chip BQ24640 is grounded; one end of the capacitor C13 is connected to the Connect to the TS pin of the charging chip BQ24640, and the other end is connected to the TPAD pin of the charging chip BQ24640; the TPAD pin of the charging chip BQ24640 is short-circuited with the GND pin; one end of the resistor R13 is connected to the VREF pin of the charging chip BQ24640, and the other end is connected in series with the resistor R14 and then connected to the GND pin of the charging chip BQ24640; one end of the resistor R15 is connected to the TS pin of the charging chip BQ24640, and the other end is connected between the resistor R13 and the resistor R14; the thermistor RT is connected in parallel on both sides of the resistor R14; One end of the resistor R18 is connected to the STAT pin of the charging chip BQ24640, and the other end is connected to the cathode of the light-emitting diode D4. The anode of the light-emitting diode D4 is connected to the second power supply VDD2. One end of the resistor R19 is connected to the STAT pin of the charging chip BQ24640. The other end of the pin is connected to the cathode of the light emitting diode D5, and the anode of the light emitting diode D5 is connected to the second power supply VDD2; The HIDRV pin of the charging chip BQ24640 is connected to the source of the third field effect transistor M1, one end of the inductor L2 is connected to the drain of the third field effect transistor M1, and the other end is connected to the SRN pin of the charging chip BQ24640; one end of the resistor R21 is connected to the SRP pin of the charging chip BQ24640, and the other end is connected to the SRN pin of the charging chip BQ24640, and the capacitor C19 is connected in parallel on both sides of the resistor R21; The drain of the third field effect transistor M1 is connected to the PH pin of the charging chip BQ24640; one end of the capacitor C15 is connected to the BTST pin of the charging chip BQ24640, and the other end is connected to the source of the third field effect transistor M1; The gate of the fourth field effect transistor M2 is connected to the LODRV pin of the charging chip BQ24640, and the drain of the fourth field effect transistor M2 is connected to the source of the third field effect transistor M1; the source of the fourth field effect transistor M2 is grounded, the anode of the diode D2 and the anode of the diode D3 are connected to the RENG pin of the charging chip BQ24640, and the cathode of the diode D2 and the cathode of the diode D3 are connected to the BTST pin of the charging chip BQ24640; one end of the capacitor C19 is connected to the anode of the diode D2, and the other end is connected to the source of the fourth field effect transistor M2; one end of the capacitor C18 is connected to the source of the fourth field effect transistor M2, and the other end is connected to the SRP pin of the charging chip BQ24640.

2. The tethered multi-rotor UAV backup power supply system according to claim 1, characterized in that: The balancing unit includes a supercapacitor management chip and a peripheral balancing circuit, and each supercapacitor monomer structure matches a peripheral balancing circuit; The peripheral balancing circuit includes: one end of the resistor R4 is connected to the source of the second field effect transistor Q, and the other end is connected to the gate of the second field effect transistor Q; one end of the capacitor C1 is connected to the source of the second field effect transistor Q, and the other end is grounded; one end of the resistor R5 is connected to the drain of the second field effect transistor Q, and the other end is grounded or connected to a peripheral balancing circuit that matches the previous supercapacitor monomer structure; the source of the second field effect transistor Q is connected to the supercapacitor management chip.

3. A tethered multi-rotor UAV backup power supply system according to claim 2, characterized in that: The supercapacitor management chip is used to monitor the operating status information of the series supercapacitor group and report it to the main control unit through the I2C bus. The operating status information of the series supercapacitor group includes the current of the series supercapacitor group, the voltage of the series supercapacitor group and the temperature information of the series supercapacitor group.

4. The tethered multi-rotor UAV backup power supply system according to claim 1, characterized in that: The discharge unit includes a power management chip TPS54320 and its peripheral circuits; The peripheral circuit includes: one end of the resistor R8 is grounded, and the other end is connected to the RT pin of the chip TPS54320; the VIN pin, PVIN1 pin and PVIN2 pin of the chip TPS54320 are connected together and then connected to the resistor R9; the other end of the resistor R9 is connected to the EN pin of the chip TPS54320; one end of the resistor R10 is connected to the EN pin of the chip TPS54320, and the other end is grounded; one end of the capacitor C2 is grounded, and the other end is connected to the PVIN2 pin of the chip TPS54320; the capacitor C3 is connected in parallel to both ends of the capacitor C2; The GND1 pin, GND2 pin and ETPad pin of the TPS54320 chip are all grounded; One end of capacitor C4 is connected to the BOOT pin of chip TPS54320, and the other end is connected to the inductor L and then connected to the power supply VDD. One end of capacitor C7 is connected to the power supply VDD, and the other end is grounded. Capacitor C8 is connected in parallel on both sides of capacitor C7. The PH1 pin and PH2 pin of chip TPS54320 are connected together and then connected between capacitor C4 and inductor L. One end of capacitor C9 is connected to the power supply VDD, and the other end is connected to the VSENSE pin of chip TPS54320. Resistor R12 is connected in parallel on both sides of capacitor C9. One end of resistor R13 is connected to the VSENSE pin of chip TPS54320, and the other end is grounded. One end of capacitor C5 is connected to the SS pin of chip TPS54320, and the other end is grounded; one end of capacitor C6 is connected to the COMP pin of chip TPS54320, and the other end is grounded; one end of the resistor is connected to the COMP pin of chip TPS54320, and the other end is connected in series with capacitor C10 and then grounded.

5. The tethered multi-rotor UAV backup power supply system according to claim 1, characterized in that: The power supply module includes VRB4824LD-50WR3, which is used to provide power required by the backup power supply system.

6. The tethered multi-rotor UAV backup power supply system according to claim 1, characterized in that: The circuit of the charging unit also includes: One end of capacitor C20 is connected to the SRN pin of the charging chip BQ24640, and the other end is grounded; capacitor C21 is connected in parallel on both sides of capacitor C20; one end of resistor R22 is connected to the SRN pin of the charging chip BQ24640, and the other end is connected to the VFB pin of the charging chip BQ24640; capacitor C22 is connected in parallel on both sides of resistor R22; The third power source VDD3 is connected to the SRN pin of the charging chip BQ24640; one end of the resistor R24 ​​is connected to the SRN pin of the charging chip BQ24640, and the other end is grounded; One end of the resistor R23 is connected to the VFB pin of the charging chip BQ24640, and the other end is connected to the drain of the fifth field effect transistor M3. The source of the fifth field effect transistor M3 is grounded, and the gate of the fifth field effect transistor M3 is connected to the balancing unit; one end of the resistor R25 is connected to the VFB pin of the charging chip BQ24640, and the other end is connected to the drain of the sixth field effect transistor M4. The source of the sixth field effect transistor M4 is grounded, and the gate of the sixth field effect transistor M4 is connected to the balancing unit.

7. The tethered multi-rotor UAV backup power supply system according to claim 1, characterized in that: It also includes a host computer, wherein the main control unit includes a single-chip microcomputer C8051F500, and the single-chip microcomputer C8051F500 feeds back the operating status information of the series supercapacitor group to the host computer through the CAN bus.

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