Energy Optimization Management Method and Distributed Hybrid Power System of Unmanned Aerial Transportation Platform

Abstract

The present invention discloses an energy optimization management method and a distributed hybrid power system for an unmanned aerial transportation platform. This method calculates the power of the propulsion motor and the power of the energy storage battery according to the current of the energy storage battery; calculates the first power of the engine for power propulsion of the unmanned aerial transportation platform; adds the first power and the power of the propulsion motor to obtain the power demand of the platform power system of the unmanned aerial transportation platform; calculates the fuel consumption rate of the engine according to the power demand of the platform power system and the power of the energy storage battery; calculates the Hamiltonian function according to the current of the energy storage battery and the fuel consumption rate of the engine; adopts the Pontryagin minimum principle to solve the minimum fuel consumption rate of the engine based on the Hamiltonian function; constructs an optimization function for energy optimization management according to the minimum fuel consumption rate; and adjusts the output powers of the engine and the propulsion motor based on the optimization function for energy optimization management. The present invention can optimize energy management and improve energy utilization efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of energy management, and more particularly to an energy optimization management method and a distributed hybrid power system for an unmanned air transportation platform. Background Art

[0002] A distributed hybrid power system is a combination that integrates traditional engines (piston engines, gas turbine engines) and propulsion motors. While the engine provides the main thrust, it drives a generator to generate electricity, which, together with a energy storage battery (such as a lithium battery), provides power for the propulsion motor, and the propulsion motor drives the propeller to provide part of the thrust for the platform, thereby achieving the purpose of improving energy utilization efficiency and the aerodynamic effect of the aircraft. The distributed hybrid power system is a new type of propulsion method between traditional engines and all-electric propulsion systems and has become an important trend in the current development of aviation power.

[0003] For the power system applied to a large unmanned air transportation platform in the prior art, a high-power engine system needs to be configured to meet the high-power requirements during flight processes such as short takeoff and climb of the flight platform. After the flight platform enters the cruise level flight, the power demand for the power propulsion system decreases significantly. Moreover, the energy management method in the prior art results in a large fuel consumption of the engine, and the energy cannot be utilized well, causing a certain amount of energy waste. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides an energy optimization management method and a distributed hybrid power system for an unmanned air transportation platform, which can optimize energy management and improve the energy utilization efficiency of the system.

[0005] In a first aspect, an embodiment of the present invention provides an energy optimization management method, and the energy optimization management method includes:

[0006] Calculating the current of the energy storage battery, and calculating the power of the propulsion motor and the power of the energy storage battery according to the current of the energy storage battery;

[0007] Calculating the output power of the generator according to the power of the propulsion motor;

[0008] Calculating a first power of the engine for power propulsion of the unmanned air transportation platform according to the output power of the generator;

[0009] Adding the first power and the power of the propulsion motor to obtain the power demand of the platform power system of the unmanned air transportation platform;

[0010] Calculating the fuel consumption rate of the engine according to the power demand of the platform power system and the power of the energy storage battery;

[0011] Calculate the Hamiltonian function according to the current of the energy storage battery and the fuel consumption rate of the engine;

[0012] Adopt the Pontryagin minimum principle to solve the minimum fuel consumption rate of the engine based on the Hamiltonian function;

[0013] Construct an optimization function for energy optimization management according to the minimum fuel consumption rate;

[0014] Based on the optimization function of the energy optimization management, adjust the output powers of the engine and the propulsion motor.

[0015] Compared with the prior art, the first aspect of the present invention has the following beneficial effects:

[0016] This method calculates the fuel consumption rate of the engine according to the power demand of the platform power system and the power of the energy storage battery, calculates the Hamiltonian function according to the current of the energy storage battery and the fuel consumption rate of the engine, adopts the Pontryagin minimum principle to solve the minimum fuel consumption rate of the engine based on the Hamiltonian function, constructs an optimization function for energy optimization management according to the minimum fuel consumption rate, and based on the optimization function of the energy optimization management, adjusts the output powers of the engine and the propulsion motor. By using the Pontryagin minimum principle to solve the minimum fuel consumption rate of the engine, taking the minimum fuel consumption rate as the goal of energy optimization management, an optimization function for energy optimization management is constructed, and based on the optimization function of the energy optimization management, the output powers of the engine and the propulsion motor are adjusted, which can optimize energy management, effectively improve energy utilization efficiency, and thus improve the range of the unmanned air transportation platform.

[0017] According to some embodiments of the present invention, the calculation of the current of the energy storage battery and the calculation of the power of the propulsion motor and the power of the energy storage battery according to the current of the energy storage battery include:

[0018] Calculate the current of the energy storage battery through the following formula:

[0019]

[0020] The power of the propulsion motor is provided by the energy storage battery, and calculate the power of the propulsion motor according to the current of the energy storage battery:

[0021] P EM (t) = V bat (t)·I bat (t)

[0022] Calculate the power of the energy storage battery according to the current of the energy storage battery:

[0023]

[0024] Among them, I bat (t) represents the current of the energy storage battery, E0 represents the open-circuit voltage of the energy storage battery, and R e represents the internal resistance of the energy storage battery, and P bat (t) represents the charge and discharge power of the energy storage battery, and P EM (t) represents the power of the propulsion motor, and V bat (t) represents the voltage of the energy storage battery, SOC(t) represents the state of charge of the energy storage battery, SOC0 represents the initial state of charge of the energy storage battery, and Ah nom represents the capacity of the energy storage battery, t0 represents the starting time of the current change of the energy storage battery, and t represents the time variable of each change cycle.

[0025] According to some embodiments of the present invention, the power of the generator is calculated in the following manner:

[0026]

[0027] Among them, P gen (t) represents the output power of the generator, and P EM (t) represents the power of the propulsion motor, and η represents the charge and discharge efficiency.

[0028] According to some embodiments of the present invention, the first power of the engine for power propulsion of the unmanned air transportation platform is calculated in the following manner:

[0029] P ICE,P (t) = P ICE (t) - P gen (t)

[0030] Among them, P ICE (t) represents the total power demand of the engine, P ICE,P (t) represents the first power of the engine for power propulsion of the unmanned air transportation platform, and P gen (t) represents the output power of the generator.

[0031] According to some embodiments of the present invention, the fuel consumption rate of the engine is calculated in the following manner:

[0032]

[0033] Among them, represents the fuel consumption rate of the engine, P(t) represents the power demand of the platform power system, SOC(t) represents the state of charge of the energy storage battery, and t represents the time variable.

[0034] According to some embodiments of the present invention, the Hamiltonian function is calculated in the following manner:

[0035]

[0036] Among them, H represents the Hamiltonian function, represents the fuel consumption rate of the engine, λ(t) represents the Lagrange multiplier, μ(t) represents the constraint of the battery SOC, and I bat (t) represents the current of the energy storage battery, in Ah nom represents the capacity of the energy storage battery.

[0037] According to some embodiments of the present invention, the optimization function of energy optimization management is constructed in the following manner:

[0038]

[0039] Among them, J represents the optimization function of energy optimization management, and m fuel represents the fuel consumption of the engine, t0 represents the starting time of the change in the power demand of the platform power system, and t f represents the ending time of the change in the power demand of the platform power system, and t represents the time variable of each change cycle.

[0040] According to some embodiments of the present invention, adjusting the output powers of the engine and the propulsion motor based on the optimization function of the energy optimization management includes:

[0041] Based on the optimization function of the energy optimization management, when the power demand of the flight platform is determined, if the power of the energy storage battery is higher than the preset value, increase the output power of the propulsion motor and decrease the output power of the engine; if the power of the energy storage battery is lower than the preset value, increase the output power of the engine.

[0042] In a second aspect, an embodiment of the present invention further provides a distributed hybrid power system for an unmanned air transportation platform. The distributed hybrid power system is arranged and installed by a distributed method. The distributed hybrid power system of the unmanned air transportation platform includes:

[0043] Multiple engines, connected to the first propeller through the output shaft of the generator, for adjusting the output power of the engine according to the load size and driving the first propeller to provide thrust for the unmanned air transportation platform;

[0044] Multiple generators, connected to the multiple engines, for converting part of the mechanical energy provided by the multiple engines into electrical energy in the form of three-phase alternating current;

[0045] Multiple AC / DC modules, electrically connected to the multiple generators, for converting the three-phase alternating current of the multiple generators into direct current;

[0046] An energy management module, electrically connected to the multiple AC / DC modules, is configured to obtain the direct current output by the multiple AC / DC modules and adjust the output powers of the multiple engines and the multiple propulsion motors according to the energy optimization management method described above.

[0047] Multiple energy storage batteries, electrically connected to the energy management module, are configured to store the direct current output by the energy management module and supply power to multiple electronic speed controllers.

[0048] The multiple electronic speed controllers, connected to the multiple energy storage batteries, are configured to drive the multiple propulsion motors to adjust their speeds.

[0049] The multiple propulsion motors, connected to a second propeller, are configured to drive the second propeller to provide thrust for the unmanned air transportation platform.

[0050] Compared with the prior art, the second aspect of the present invention has the following beneficial effects:

[0051] This system adopts a distributed method for layout and installation, which can reduce the requirements of the unmanned air transportation platform for installation space, greatly improve the flexibility of installing other equipment on the unmanned air transportation platform, and can improve the system heat dissipation and the aerodynamic characteristics of the unmanned air transportation platform, increase the lift force, and reduce the energy consumption of the distributed hybrid power system; multiple engines and multiple generators are used to provide electrical energy for the unmanned air transportation platform. When one of them fails or its output is limited, the others can still continue to provide electrical energy for the platform, thereby improving the safety and reliability of the entire unmanned air transportation platform; by electrically connecting the energy management module to the multiple AC / DC modules and the multiple energy storage batteries, it is possible to supply power to the load devices through multiple output paths, providing the possibility for the load devices of the distributed hybrid power system to be distributed and installed on the unmanned air transportation platform; by adjusting the output powers of the multiple engines and the multiple propulsion motors according to the energy optimization management method through the energy management module, the energy management can be optimized, the energy utilization efficiency can be effectively improved, and thus the flight range of the unmanned air transportation platform can be increased.

[0052] According to some embodiments of the present invention, the energy management module is further configured to monitor the power of the energy storage battery and feedback the power state of the energy storage battery to the engine so as to adjust the output power of the engine. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of the embodiments in conjunction with the accompanying drawings, where:

[0054] Figure 1 is a flowchart of an energy optimization management method according to an embodiment of the present invention;

[0055] Figure 2 is a flowchart of energy optimization control according to an embodiment of the present invention;

[0056] Figure 3 is a schematic diagram of the composition of a distributed hybrid power system according to an embodiment of the present invention;

[0057] Figure 4 is a large unmanned air transportation platform equipped with a distributed hybrid power system according to an embodiment of the present invention;

[0058] Figure 5 is a schematic layout diagram of a distributed hybrid power system on a large unmanned air transportation platform according to an embodiment of the present invention. Detailed implementation manners

[0059] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0060] In the description of the present invention, if the first, second, etc. are described only for the purpose of distinguishing technical features, they should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0061] In the description of the present invention, it should be understood that for the orientation description, such as up, down, etc., the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

[0062] In the description of the present invention, it should be noted that unless otherwise clearly defined, words such as "set", "installed", "connected", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0063] For the power system applied to a large unmanned air transportation platform in the prior art, it is necessary to configure a high-power engine system to meet the high-power requirements during the flight processes such as short takeoff and climb of the flight platform. After the flight platform enters the cruise and level flight, the power requirement for the power propulsion system drops significantly. And the energy management method in the prior art results in a large fuel consumption of the engine, cannot make good use of energy, and causes a certain amount of energy waste.

[0064] To solve the above problems, the present invention calculates the fuel consumption rate of the engine according to the power demand of the platform power system and the power of the energy storage battery, calculates the Hamiltonian function according to the current of the energy storage battery and the fuel consumption rate of the engine, and uses the Pontryagin minimum principle to solve the minimum fuel consumption rate of the engine based on the Hamiltonian function. According to the minimum fuel consumption rate, an optimization function for energy optimization management is constructed. Based on the optimization function of energy optimization management, the output powers of the engine and the propulsion motor are adjusted. By using the Pontryagin minimum principle to solve the minimum fuel consumption rate of the engine, with the minimum fuel consumption rate as the goal of energy optimization management, an optimization function for energy optimization management is constructed, and based on the optimization function of energy optimization management, the output powers of the engine and the propulsion motor are adjusted, which can optimize energy management, effectively improve energy utilization efficiency, and thus improve the range of the unmanned air transportation platform.

[0065] Referring to Figure 1 , an embodiment of the present invention provides an energy optimization management method, and this energy optimization management method includes but is not limited to steps S100 to S900, where:

[0066] Step S100: Calculate the current of the energy storage battery, and calculate the power of the propulsion motor and the power of the energy storage battery according to the current of the energy storage battery;

[0067] Step S200: Calculate the output power of the generator according to the power of the propulsion motor;

[0068] Step S300: Calculate the first power of the engine for power propulsion of the unmanned air transportation platform according to the output power of the generator;

[0069] Step S400: Add the first power and the power of the propulsion motor to obtain the power demand of the platform power system of the unmanned air transportation platform;

[0070] Step S500: Calculate the fuel consumption rate of the engine according to the power demand of the platform power system and the power of the energy storage battery;

[0071] Step S600: Calculate the Hamiltonian function according to the current of the energy storage battery and the fuel consumption rate of the engine;

[0072] Step S700: Use the Pontryagin minimum principle to solve the minimum fuel consumption rate of the engine based on the Hamiltonian function;

[0073] Step S800: Construct an optimization function for energy optimization management according to the minimum fuel consumption rate;

[0074] Step S900: Adjust the output powers of the engine and the propulsion motor based on the optimization function of energy optimization management.

[0075] In steps S100 to S900 of some embodiments, in order to optimize energy management and effectively improve energy utilization efficiency, in this embodiment, the current of the energy storage battery is calculated, and based on the current of the energy storage battery, the power of the propulsion motor and the power of the energy storage battery are calculated. According to the power of the propulsion motor, the output power of the generator is calculated. According to the output power of the generator, the first power of the engine for power propulsion of the unmanned aerial transportation platform is calculated. The first power and the power of the propulsion motor are added to obtain the power demand of the platform power system of the unmanned aerial transportation platform. According to the power demand of the platform power system and the power of the energy storage battery, the fuel consumption rate of the engine is calculated. According to the current of the energy storage battery and the fuel consumption rate of the engine, the Hamiltonian function is calculated. Using the Pontryagin minimum principle, the minimum fuel consumption rate of the engine is solved based on the Hamiltonian function. According to the minimum fuel consumption rate, an optimization function for energy optimization management is constructed. Based on the optimization function for energy optimization management, the output powers of the engine and the propulsion motor are adjusted.

[0076] In some embodiments, calculating the current of the energy storage battery and calculating the power of the propulsion motor and the power of the energy storage battery based on the current of the energy storage battery includes:

[0077] The current of the energy storage battery is calculated by the following formula:

[0078]

[0079] The power of the propulsion motor is provided by the energy storage battery, and the power of the propulsion motor is calculated based on the current of the energy storage battery:

[0080] P EM (t) = V bat (t)·I bat (t)

[0081] The power of the energy storage battery is calculated based on the current of the energy storage battery:

[0082]

[0083] where, I bat (t) represents the current of the energy storage battery, E0 represents the open-circuit voltage of the energy storage battery, R e represents the internal resistance of the energy storage battery, P bat (t) represents the charge and discharge power of the energy storage battery, P EM (t) represents the power of the propulsion motor, V bat (t) represents the voltage of the energy storage battery, SOC(t) represents the power of the energy storage battery, SOC0 represents the initial power of the energy storage battery, Ah nom represents the capacity of the energy storage battery, t0 represents the starting time of the current change of the energy storage battery, and t represents the time variable of each change cycle.

[0084] In some embodiments, the power of the generator is calculated as follows:

[0085]

[0086] where P gen (t) represents the output power of the generator, P EM (t) represents the power of the propulsion motor, and η represents the charge-discharge efficiency. In some embodiments, the first power of the engine for power propulsion of the unmanned air transportation platform is calculated as follows:

[0087] P ICE,P (t) = P ICE (t) - P gen (t)

[0088] where P ICE (t) represents the total power demand of the engine, P ICE,P (t) represents the first power of the engine for power propulsion of the unmanned air transportation platform, and P gen (t) represents the output power of the generator.

[0089] In some embodiments, the fuel consumption rate of the engine is calculated as follows:

[0090]

[0091] where represents the fuel consumption rate of the engine, P(t) represents the power demand of the platform power system, SOC(t) represents the power of the energy storage battery, and t represents the time variable.

[0092] In some embodiments, the Hamiltonian function is calculated as follows:

[0093]

[0094] where H represents the Hamiltonian function, represents the fuel consumption rate of the engine, λ(t) represents the Lagrange multiplier, μ(t) represents the constraint of the battery SOC, and I bat (t) represents the current of the energy storage battery, and Ah nom represents the capacity of the energy storage battery.

[0095] In this embodiment, the Hamiltonian function is calculated in the above manner, and the energy management optimization control law is set through the Pontryagin minimum principle, with the minimum fuel consumption rate as the optimization goal, thereby forming an energy optimization management of the engine and the energy storage battery.

[0096] In some embodiments, an optimization function for energy optimization management is constructed as follows:

[0097]

[0098] where J represents the optimization function of energy optimization management, m fuel represents the fuel consumption of the engine, t0 represents the starting time of the change in the power demand of the platform power system, t f represents the ending time of the change in the power demand of the platform power system, and t represents the time variable of each change cycle.

[0099] In some embodiments, based on the optimization function of energy optimization management, the output powers of the engine and the propulsion motor are adjusted, including:

[0100] Based on the optimization function of energy optimization management, when the power demand of the flight platform is determined, if the power of the energy storage battery is higher than the preset value, the output power of the propulsion motor is increased and the output power of the engine is decreased; if the power of the energy storage battery is lower than the preset value, the output power of the engine is increased.

[0101] In this embodiment, by adjusting the output powers of the propulsion motor and the engine in real time through the optimization function of energy optimization management, the fuel consumption can be minimized, thereby improving the energy utilization efficiency of the system.

[0102] For the convenience of those skilled in the art to understand, the following provides a set of best embodiments:

[0103] Referring to Figure 2 , the energy optimization management method of this embodiment aims to minimize fuel consumption as the goal of energy optimization management, specifically:

[0104] The optimization function for energy optimization management is constructed as:

[0105]

[0106] where J represents the optimization function of energy optimization management, m fuel represents the fuel consumption of the engine, t0 represents the starting time of the change in the power demand of the platform power system, t f represents the ending time of the change in the power demand of the platform power system, t represents the time variable of each change cycle, represents the fuel consumption rate of the engine.

[0107] The fuel consumption rate of the engine is calculated as follows:

[0108]

[0109] Among them, P(t) represents the power demand of the platform power system, SOC(t) represents the power of the energy storage battery, and t represents the time variable.

[0110] The power demand P(t) of the platform power system is mainly provided by two parts. One part is provided by the engine, and the other part is provided by the propulsion motor. Specifically:

[0111] P(t) = P ICE,P (t) + P EM (t)

[0112] Among them, P ICE,P (t) represents the first power of the engine for power propulsion of the unmanned air transportation platform, and P EM (t) represents the power of the propulsion motor.

[0113] For the propulsion motor, its power is mainly provided by the energy storage battery. Therefore:

[0114] P EM (t) = V bat (t) · I bat (t)

[0115] Among them, V bat (t) represents the voltage of the energy storage battery, and I bat (t) represents the current of the energy storage battery.

[0116] The voltage V bat (t) of the energy storage battery can be expressed as:

[0117] V bat (t) = E0 - R e I bat (t) - V C0

[0118] In the above formula, E0 represents the open-circuit voltage of the energy storage battery, R e represents the internal resistance of the energy storage battery, and V C0 represents the potential difference generated by the capacitance of the energy storage battery.

[0119] The power SOC(t) of the energy storage battery can be expressed as:

[0120]

[0121] Among them, SOC0 represents the initial power of the energy storage battery, Ah nom represents the capacity of the energy storage battery, t0 represents the starting time of the current change of the energy storage battery, and t represents the time variable of each change cycle.

[0122] According to the system design, for the engine, in addition to providing most of the power for the power demand of the platform power system, it is also necessary to drive the generator to generate electricity and charge the energy storage battery according to the requirements of energy optimization management. Therefore, there is:

[0123] P ICE (t) = P ICE,P (t) + P gen (t)

[0124] In the formula, P ICE (t) represents the total power demand of the engine, and P gen (t) represents the output power of the generator.

[0125] Since the output power of the generator is consistent with the charging power of the energy storage battery, there is a corresponding relationship between the charging power and the discharging power of the energy storage battery, and the discharging power of the energy storage battery is consistent with the power P EM (t) of the propulsion motor. Therefore, there is:

[0126] P EM (t) = ηP gen (t)

[0127] Among them, η represents the charge-discharge efficiency, and the charge-discharge efficiency is generally not less than 0.9.

[0128] According to the hybrid system setting, the fuel consumption rate of the engine The continuously differentiable function related to the power demand P(t) of the platform power system and the state of charge SOC(t) of the energy storage battery can be expressed as:

[0129]

[0130] Therefore, through the Pontryagin minimum principle, the optimal control law of the energy management system is set as:

[0131]

[0132] Among them, H represents the Hamiltonian function, λ(t) represents the Lagrange multiplier, which is used to describe the system dynamics in the cooperative state, and μ(t) is used to describe the constraint of the battery SOC, that is, 0.2 ≤ μ(t) ≤ 0.95, Ah nom represents the capacity of the energy storage battery. I bat (t) represents the function of the current change of the energy storage battery and can be expressed as:

[0133]

[0134] Among them, P bat (t) represents the charge-discharge power of the energy storage battery.

[0135] Referring to Figure 3 , an embodiment of the present invention further provides a distributed hybrid power system for an unmanned air transportation platform. The distributed hybrid power system is arranged and installed by a distributed method. The distributed hybrid power system of the unmanned air transportation platform includes:

[0136] A plurality of engines, connected to the first propeller through the output shaft of the generator, for adjusting the output power of the engines according to the load size and driving the first propeller to provide thrust for the unmanned air transportation platform;

[0137] A plurality of generators, connected to the plurality of engines, for converting part of the mechanical energy provided by the plurality of engines into electrical energy in the form of three-phase alternating current;

[0138] A plurality of AC / DC modules, electrically connected to the plurality of generators, for converting the three-phase alternating current of the plurality of generators into direct current;

[0139] An energy management module, electrically connected to the plurality of AC / DC modules, for obtaining the direct current output by the plurality of AC / DC modules and adjusting the output power of the plurality of engines and the plurality of propulsion motors according to the above energy optimization management method;

[0140] A plurality of energy storage batteries, electrically connected to the energy management module, for storing the direct current output by the energy management module and supplying power to the plurality of electronic speed controllers;

[0141] A plurality of electronic speed controllers, connected to the plurality of energy storage batteries, for driving the plurality of propulsion motors to adjust the speed;

[0142] A plurality of propulsion motors, connected to the second propeller, for driving the second propeller to provide thrust for the unmanned air transportation platform.

[0143] In this embodiment, a distributed method is adopted for layout and installation, which can reduce the requirements of the unmanned air transportation platform for the installation space, greatly improve the flexibility of installing other equipment on the unmanned air transportation platform, and can improve the system heat dissipation and the aerodynamic characteristics of the unmanned air transportation platform, increase the lift, and reduce the energy consumption of the distributed hybrid power system; multiple engines and multiple generators are used to provide electrical energy for the unmanned air transportation platform. When one of them fails or the output is limited, the others can still continue to provide electrical energy for the platform, thereby improving the safety and reliability of the entire unmanned air transportation platform; the energy management module is electrically connected to multiple AC / DC modules and multiple energy storage batteries, so that it can output power to the load equipment in multiple paths, providing the possibility for the load equipment of the distributed hybrid power system to be installed in a distributed layout on the unmanned air transportation platform; by adjusting the output power of multiple engines and multiple propulsion motors according to the energy optimization management method through the energy management module, the energy management can be optimized, the energy utilization efficiency can be effectively improved, and thus the flight range of the unmanned air transportation platform can be improved.

[0144] In some embodiments, the energy management module is further configured to monitor the power of the energy storage battery and feedback the power state of the energy storage battery to the engine so as to adjust the output power of the engine.

[0145] For the convenience of those skilled in the art to understand, the following provides a set of best embodiments:

[0146] Refer to Figures 3 to 5 , the distributed hybrid power system of this embodiment includes an engine, a generator, an AC / DC module, an energy management module, an energy storage battery, an electronic speed controller, a propulsion motor and a propeller. The distributed hybrid power system of this embodiment adopts a distributed strategy for layout and installation in a large unmanned air transportation platform, improving the safety and reliability of the entire hybrid power system and the large unmanned air transportation platform, and at the same time can also improve the installation flexibility of other equipment on the large unmanned air transportation platform. Specifically:

[0147] Two sets of engines and propellers. The ECU (engine control unit) of the engine receives the voltage and power of the energy storage battery detected by the energy management module. The engine in the running state adjusts the throttle opening according to the load size (the load demand includes the power demand of the propulsion system and the power retention state of the energy storage battery), and changes the output power of the engine; for example, when the voltage or power of the energy storage battery is lower than the set value, the state of the energy storage battery is fed back to the engine, and the engine speed is increased to increase the output power to charge the energy storage battery pack. While the engine outputs power, it can also drive the propeller connected to its output shaft to provide thrust for the large unmanned air transportation platform.

[0148] Two sets of generators. The generators convert the engine output power into electrical energy in real time according to the power output by the engine (i.e., convert part of the mechanical energy provided by the engine into electrical energy output in the form of three-phase alternating current), and output it to the AC / DC module.

[0149] After receiving the two-way three-phase alternating current output by the generators, the AC / DC module converts the three-phase alternating current into direct current, and outputs it to the devices on the bus for power supply through the energy management module.

[0150] The energy management module can monitor the voltage and power of the energy storage battery in real time, and transmit data such as the voltage and power of the energy storage battery and the working state to devices such as the ECU of the engine and the autopilot of the large unmanned aerial transportation platform in real time through communication interfaces such as network ports, CAN, and serial ports.

[0151] Multiple energy storage batteries. The multiple energy storage batteries can store the electrical energy output by the generators and supply power to the electronic speed controllers and motors.

[0152] Multiple electronic speed controllers. The electronic speed controllers adjust the speed of the propulsion motors according to the received control instructions to drive the propulsion motors.

[0153] Multiple propulsion motors and propellers. The propulsion motors drive the propellers to improve the aerodynamic performance of the wings of the unmanned aerial transportation platform to increase lift, and provide thrust for the large unmanned aerial transportation platform.

[0154] The two sets of engines, generators and AC / DC modules in this embodiment jointly provide thrust for the aerial transportation platform, and the power generation systems are redundant backups for each other. They can output three-phase alternating current to the energy management module through the AC / DC module at the same time, or any one of them can output three-phase alternating current to the energy management module through the AC / DC module. Therefore, when one set fails or the output is limited, the other set can still continue to provide electrical energy for the large unmanned aerial transportation platform, thereby improving the safety and reliability of the entire large unmanned aerial transportation platform.

[0155] There is a one-to-one correspondence among the multiple energy storage batteries, multiple electronic speed controllers, and multiple propulsion motors and propellers in this embodiment, that is, one energy storage battery supplies power to one electronic speed controller, one electronic speed controller drives one propulsion motor, and one propulsion motor drives one propeller to provide thrust for the large unmanned aerial transportation platform. The input of each energy storage battery is connected to the bus output by the energy management module. The number of installations of the multiple energy storage batteries, multiple electronic speed controllers, and multiple propulsion motors and propellers in the large unmanned aerial transportation platform is not less than 6.

[0156] The multiple energy storage batteries, multiple electronic speed controllers, multiple propulsion motors and propellers of this embodiment are installed in the two side wings of a large unmanned air transportation platform in two major groups; the number of energy storage batteries, electronic speed controllers, propulsion motors and propellers in each major group is equal, and each major group is further divided into multiple subgroups. Each subgroup includes one energy storage battery, one electronic speed controller, one propulsion motor and one propeller, and the number of subgroups is the same as the number of energy storage batteries (or electronic speed controllers, propulsion motors). The equipment between each subgroup within each major group adopts a distributed strategy and is installed and arranged in the two side wings of the large unmanned air transportation platform in a uniformly distributed manner.

[0157] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art to which the present invention pertains, various changes can be made without departing from the gist of the present invention.

Claims

1. An energy optimization management method, characterized in that, The energy optimization management method includes: Calculating the current of the energy storage battery, and calculating the power of the propulsion motor and the power of the energy storage battery according to the current of the energy storage battery; Calculating the output power of the generator according to the power of the propulsion motor; Calculating the first power of the engine for power propulsion of the unmanned air transportation platform according to the output power of the generator; Adding the first power and the power of the propulsion motor to obtain the power demand of the platform power system of the unmanned air transportation platform; Calculating the fuel consumption rate of the engine according to the power demand of the platform power system and the power of the energy storage battery; Calculating the Hamiltonian function according to the current of the energy storage battery and the fuel consumption rate of the engine; Adopting the Pontryagin minimum principle to solve the minimum fuel consumption rate of the engine based on the Hamiltonian function; Constructing an optimization function for energy optimization management according to the minimum fuel consumption rate; Adjusting the output powers of the engine and the propulsion motor based on the optimization function of the energy optimization management.

2. The energy optimization management method according to claim 1, characterized in that The calculating the current of the energy storage battery, and calculating the power of the propulsion motor and the power of the energy storage battery according to the current of the energy storage battery includes: Calculating the current of the energy storage battery through the following formula: The power of the propulsion motor is provided by the energy storage battery, and calculating the power of the propulsion motor according to the current of the energy storage battery: P EM (t) = V bat (t)·I bat (t) Calculating the power of the energy storage battery according to the current of the energy storage battery: Among them, I bat (t) represents the current of the energy storage battery, E0 represents the open-circuit voltage of the energy storage battery, and R e represents the internal resistance of the energy storage battery, P bat (t) represents the charge and discharge power of the energy storage battery, P EM (t) represents the power of the propulsion motor, V bat (t) represents the voltage of the energy storage battery, SOC(t) represents the state of charge of the energy storage battery, SOC0 represents the initial state of charge of the energy storage battery, and Ah nom represents the capacity of the energy storage battery, t0 represents the starting time of the current change of the energy storage battery, and t represents the time variable of each change cycle.

3. The energy optimization management method according to claim 1, wherein Calculating the power of the generator through the following method: Among them, P gen (t) represents the output power of the generator, P EM (t) represents the power of the propulsion motor, and η represents the charge-discharge efficiency.

4. The energy optimization management method according to claim 1, characterized in that Calculating the first power of the engine for power propulsion of the unmanned air transportation platform through the following method: P ICE,P P(t) = P ICE P(t) - P gen P(t) where, P ICE (t) represents the total power demand of the engine, P ICE,P (t) represents the first power of the engine for power propulsion of the unmanned aerial vehicle platform, P gen (t) represents the output power of the generator.

5. The energy optimization management method according to claim 1, wherein Calculating the fuel consumption rate of the engine through the following method: wherein, represents the fuel consumption rate of the engine, P(t) represents the power demand of the platform power system, SOC(t) represents the power of the energy storage battery, and t represents the time variable.

6. The energy optimization management method according to claim 1, wherein Calculating the Hamiltonian function through the following method: where H represents the Hamiltonian function, represents the fuel consumption rate of the engine, λ(t) represents the Lagrange multiplier, μ(t) represents the constraint of the battery SOC, and I bat (t) represents the current of the energy storage battery, Ah nom represents the capacity of the energy storage battery.

7. The energy optimization management method according to claim 6, characterized in that, Constructing an optimization function for energy optimization management through the following method: Among them, J represents the optimization function of energy optimization management, and m fuel represents the fuel consumption of the engine, t0 represents the starting time of the change in the power demand of the platform power system, and t f represents the ending time of the change in the power demand of the platform power system, and t represents the time variable of each change cycle.

8. The energy optimization management method according to claim 1, wherein The adjusting the output powers of the engine and the propulsion motor based on the optimization function of the energy optimization management includes: Based on the optimization function of the energy optimization management, when the power demand of the flight platform is determined, if the power of the energy storage battery is higher than a preset value, increasing the output power of the propulsion motor and decreasing the output power of the engine; if the power of the energy storage battery is lower than the preset value, increasing the output power of the engine.

9. A distributed hybrid power system for an unmanned aerial transportation platform, characterized in that, The distributed hybrid power system is arranged and installed by using a distributed method, and the distributed hybrid power system of the unmanned air transportation platform includes: Multiple engines, connected to a first propeller through the output shaft of the generator, for adjusting the output power of the engine according to the load size and driving the first propeller to provide thrust for the unmanned air transportation platform; Multiple generators, connected to the multiple engines, for converting part of the mechanical energy provided by the multiple engines into electrical energy in the form of three-phase alternating current; Multiple AC / DC modules, electrically connected to the multiple generators, for converting the three-phase alternating current of the multiple generators into direct current; An energy management module, electrically connected to the plurality of AC / DC modules, is configured to obtain the direct current output by the plurality of AC / DC modules, and adjust the output power of the plurality of engines and the plurality of propulsion motors according to the energy optimization management method according to any one of claims 1 to 8; A plurality of energy storage batteries, electrically connected to the energy management module, are configured to store the direct current output by the energy management module and supply power to a plurality of electronic speed controllers; The plurality of electronic speed controllers are connected to the plurality of energy storage batteries and are configured to drive the plurality of propulsion motors to adjust their speeds; The plurality of propulsion motors are connected to a second propeller and are configured to drive the second propeller to provide thrust for the unmanned air transportation platform.

10. The distributed hybrid power system of the unmanned aerial transportation platform according to claim 9, characterized in that, The energy management module is further configured to monitor the power level of the energy storage battery and feed back the power level status of the energy storage battery to the engine so as to adjust the output power of the engine.

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