A hybrid propulsion system land-to-air conversion power matching optimization method

Abstract

The present invention discloses a hybrid propulsion system land-to-air conversion power matching optimization method, comprising the following steps: Step 1: construct a land-to-air conversion working condition identification method for a flying car, and monitor the speed, acceleration, attitude angle, tire pressure and propeller speed parameters of the flying car in real time through a variety of sensors; Step 2: based on the working condition identification result in step 1, calculate the power requirements for land driving and air flight; Step 3: formulate a land-to-air switching strategy based on the power demand calculation result in step 2; Step 4: based on the optimization strategy in step 3, establish a feedback control mechanism, monitor the power matching effect in real time, and adjust the power allocation strategy according to the specific optimization requirements of the working condition to ensure the optimal state of power matching under different conversion working conditions. The present invention aims to ensure that the system achieves efficient and stable land-to-air conversion under different working conditions and improve the energy utilization efficiency and safety of the flying car by optimizing the power allocation strategy.

Description

Technical Field

[0001] The present invention relates to the technical field of power matching optimization of a flying car power system, and in particular to a land-to-air conversion power matching optimization method for a hybrid propulsion system. Background Art

[0002] As a key technology for flying cars to achieve seamless switching between land driving and air flight, hybrid propulsion systems have shown broad application prospects in urban air traffic and intelligent transportation. However, existing hybrid propulsion systems have many technical bottlenecks in the process of land-to-air conversion, especially in terms of power matching optimization. It is difficult to achieve the best combination of motor drive and turboshaft engine output power, resulting in power waste, slow system response, and insufficient thrust during the conversion process, which seriously affects the energy efficiency and flight stability of flying cars.

[0003] At present, the research on power matching optimization of hybrid propulsion systems is not very comprehensive, and some existing related technical solutions can provide some references for research in this field. For example, in the Chinese invention patent application number CN 201910001816.9, entitled "Hybrid propulsion system and control method for light fixed-wing unmanned aerial vehicles", a control strategy based on real-time monitoring of the power and fuel consumed by the system under different flight states and the completion time of various actions of the unmanned aerial vehicle is proposed, and a clustering algorithm is used to adjust the initial output power of the motor and turboshaft engine. However, the response speed of this method is still insufficient for emergencies, especially in emergency takeoff or landing, the system cannot quickly provide the required thrust or power, and there are certain safety hazards; for example, in the Chinese invention patent number CN 202080034245.X, entitled "Hybrid propulsion system for aircraft for vertical takeoff and landing", a method of pre-establishing the flight stage, matching the energy branch according to the number of engines, generators and motors, and setting the corresponding number of energy storage components to optimize the energy transmission path is proposed, which reduces fuel and power consumption while ensuring the output power in the takeoff and landing stages. However, this method has high requirements on the structure and components of the propulsion system, relies on static preset flight stages, and lacks the ability to respond dynamically to changes in actual working conditions; in addition, the Chinese invention patent number is "CN 201910471374.4", and the name is "A method for energy control of a hybrid propulsion system of an unmanned aerial vehicle based on flight data". A method for optimizing power distribution using a BP neural network is proposed, and adaptive adjustment of power distribution is achieved through learning historical data and analyzing real-time data. However, this method faces high computational complexity in practical applications, and also has high requirements on system hardware performance, and has certain limitations in practical application. It can be seen that the existing hybrid propulsion system power matching optimization method still has problems such as insufficient dynamic response, rigid power distribution, and high computational complexity when facing complex and changeable land-to-air conversion scenarios. These technical bottlenecks lead to insufficient thrust or energy waste in the system during the conversion process, thereby affecting the overall performance and safety of the flying car.

[0004] Therefore, how to achieve the best match between the motor drive and the turboshaft engine power output during the land-to-air conversion process of the hybrid propulsion system has become a technical problem that needs to be solved urgently. The present invention aims to provide a hybrid propulsion system land-to-air conversion power matching optimization method, which ensures that the system can achieve efficient and stable land-to-air conversion under different working conditions through real-time monitoring and precise control of power distribution, thereby improving energy utilization efficiency and ensuring flight safety. Summary of the invention

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

[0006] In view of the problems existing in the above-mentioned existing land-to-air conversion power matching optimization method of hybrid propulsion system, the present invention is proposed.

[0007] Therefore, the purpose of the present invention is to provide a hybrid propulsion system land-to-air conversion power matching optimization method, which optimizes the power allocation strategy to ensure that the system can achieve efficient and stable land-to-air conversion under different working conditions, thereby improving the energy utilization efficiency and safety of flying cars.

[0008] In order to solve the above technical problems, the present invention provides the following technical solutions: a hybrid propulsion system land-to-air conversion power matching optimization method, comprising the following steps:

[0009] Step 1: Construct a method for identifying the land-to-air transition conditions of a flying car. Use a variety of sensors to monitor the speed, acceleration, attitude angle, tire pressure, and propeller speed parameters of the flying car in real time, identify the land driving, take-off, cruising, and landing conditions, and trigger the power matching optimization program when the state switches.

[0010] Step 2: Based on the working condition identification results in step 1, calculate the power requirements for land driving and air flight; the power demand for land driving is mainly affected by road friction, acceleration requirements and vehicle load, while the power demand for air flight is determined by air resistance, flight altitude and speed. Based on this, a power matching optimization model is established;

[0011] Step 3: Based on the power demand calculation results in step 2, formulate a land-to-air switching strategy; in the transition from land to air, first increase the motor output power, and then gradually introduce the power output of the turboshaft engine to achieve a smooth transition; in the transition from air to land, gradually reduce the turboshaft engine power output and increase the motor driving force to achieve a smooth landing, and optimize the power distribution through an adaptive adjustment mechanism;

[0012] Step 4: Based on the optimization strategy in step 3, a feedback control mechanism is established to monitor the power matching effect in real time, and the power allocation strategy is adjusted according to the specific optimization requirements of the working conditions to ensure the optimal power matching under different conversion conditions, especially for fine control of special needs in the take-off and landing stages.

[0013] As a preferred solution of the hybrid propulsion system land-to-air conversion power matching optimization method of the present invention, the step 1 specifically includes:

[0014] 11) Multi-sensor fusion algorithm design: Using the longitudinal acceleration a measured by the acceleration sensor x , lateral acceleration a y , vertical acceleration a z and the roll angle measured by the attitude angle sensor , pitch angle θ, yaw angle ψ, and the Kalman filter algorithm are used to fuse the current attitude and motion state of the flying car. The formula is as follows: ,in, is the current state estimation, K(k) is the Kalman gain, z(k) is the sensor observation value, and H is the observation matrix;

[0015] 12) Based on the state estimation results in 11), a state switching detection mechanism is designed: when it is detected that the combination of velocity v, acceleration a and attitude angle θ reaches a critical value (v c ,a c ,θ c ), the system recognizes the state switch of the flying car; the recognition condition of the take-off condition is defined as: , where v 起飞 、a z临界 ,θ 临界 is the takeoff threshold.

[0016] As a preferred solution of the hybrid propulsion system land-to-air conversion power matching optimization method of the present invention, the step 2 specifically includes:

[0017] 21) Based on the state switching detection results in 12), a land driving power demand calculation model is established: according to the ground friction F r , vehicle mass m and acceleration a to calculate the land driving power demand P 陆地 , the formula is as follows: ,in, , μ is the ground friction coefficient, g is the acceleration due to gravity;

[0018] 22) Based on the land driving power model in 21), a calculation model for the power demand of air flight is established: When flying in the air, the air resistance F d and the power demand P determined by the lift demand L 空中 , the calculation formula is as follows: , where C d is the air resistance coefficient, is the air density, A is the windward area, To promote system efficiency.

[0019] As a preferred solution of the hybrid propulsion system land-to-air conversion power matching optimization method of the present invention, the step three specifically includes:

[0020] 31) Based on the power demand calculation results in 22), design a power distribution strategy from land to air: During the takeoff phase, increase the motor output power P 电机 , and when the critical speed v is reached c Later, the turboshaft engine power P was gradually introduced. 发动机 , the formula is as follows: , where t 切换 is the total time to switch from land mode to air mode, and t is the time elapsed from the current moment in the switching process;

[0021] 32) Based on the power allocation strategy in 31), design a power conversion mechanism from air to land: During the landing phase, gradually reduce the turboshaft engine power P 发动机 , and increase the motor driving force P 电机 , for a smooth landing: ;

[0022] 33) Based on the power conversion mechanism in 32), an adaptive adjustment mechanism is designed: the system adjusts the power according to the real-time wind speed v w and ground friction F r Feedback, dynamically adjust the power output ratio of the motor and the turboshaft engine to achieve the optimal power distribution. The adjustment formula is as follows ,in, To adjust the power gain, Kp, is the adjustment coefficient, v w短 is the target wind speed, F r短 is the target ground friction.

[0023] As a preferred solution of the hybrid propulsion system land-to-air conversion power matching optimization method of the present invention, the step 4 specifically includes:

[0024] 41) Based on the adaptive adjustment mechanism in 33), a feedback control equation is designed: by real-time monitoring of the power matching effect, a closed-loop control equation is established to adjust the power allocation strategy to achieve the optimal state. The control equation is as follows: ,in, To adjust the power, is the original power, E 参考 (t) is the reference power output, E 实际 (t) is the real-time power output, K is the feedback gain;

[0025] 42) Based on the feedback control equation in 41), design a specific optimization control strategy for the working condition: for key working conditions such as takeoff and landing, design specific control gains K 起飞 and K 降落, to meet the power requirements at different stages, the formula is as follows: , where the function f adjusts the control gain according to the current state parameters.

[0026] As a preferred solution of the hybrid propulsion system land-to-air conversion power matching optimization method of the present invention, the hybrid propulsion system land-to-air conversion power matching optimization method is based on a hybrid propulsion system, and the hybrid propulsion system includes: an electric drive module, a turboshaft engine module, an energy management module, a propulsion conversion module and an intelligent power distribution controller;

[0027] The electric drive module and the turboshaft engine module cooperate with each other to form the core drive system for the flying car to seamlessly switch between land driving and air flying; the energy management module is responsible for allocating and adjusting the energy supply according to the implementation conditions; the propulsion conversion module integrates and distributes the outputs of the motor drive module and the turboshaft engine module to ensure that the flying car runs smoothly under various working conditions; the intelligent power distribution controller receives real-time data from the external environment and the flying car itself, and dynamically adjusts the working conditions of each module, thereby achieving efficient and stable land-to-air conversion while ensuring energy utilization efficiency and safety.

[0028] As a preferred solution of the land-to-air conversion power matching optimization method of the hybrid propulsion system described in the present invention, the electric drive module includes: a motor controller, a motor, a power management unit, a reduction mechanism and a wheel drive assembly; the motor controller connects the motor and the power management unit, and controls the discharge of the motor management unit by real-time monitoring of the motor speed, torque and current, thereby accurately controlling the output power of the motor; the motor is connected to the reduction mechanism, and the reduction mechanism is connected to the wheel drive assembly. Through the action of the reduction mechanism, the output power of the motor is further adjusted to adapt to the driving requirements under different working conditions; the reduction mechanism adopts a two-stage planetary gear set design to improve the torque output of the motor, and realizes independent drive control of each wheel through electronic differential control to ensure driving stability under turning and asymmetric load conditions.

[0029] As a preferred solution of the land-to-air conversion power matching optimization method of the hybrid propulsion system described in the present invention, the turboshaft engine module includes: an engine controller, a fuel management unit, a supercharging system, an auxiliary power unit and a turboshaft engine; the engine controller is connected to the fuel management unit, the supercharging system and the auxiliary power unit; the fuel management unit is controlled by the engine controller to provide the required fuel supply; the supercharging system coordinates with the fuel management unit to adjust the fuel injection amount and the air mixing ratio to improve the power and performance of the turboshaft engine; the auxiliary power unit serves as a supporting device to help maintain the basic operation of the system when the turboshaft engine is turned off or at low load; the turboshaft engine is connected to the fuel management unit, the supercharging system and the auxiliary power unit, and is coordinated and controlled by the three to achieve the optimal working state; the supercharging system is a variable geometry turbocharger to adapt to the thrust requirements under different flight altitudes and air density conditions, ensuring the efficient operation of the turboshaft engine under various flight conditions.

[0030] As a preferred solution of the land-to-air conversion power matching optimization method of the hybrid propulsion system described in the present invention, the energy management module includes: an energy distribution controller, a high-voltage battery pack, a fuel tank and an energy converter; the energy distribution controller is connected to the high-voltage battery pack and the fuel tank, monitors the battery power, fuel reserves and power demand in real time, and dynamically adjusts the distribution of electricity and fuel to ensure the energy supply of the system under different working conditions; the high-voltage battery pack is connected to the energy converter to provide power to the electric drive module; the fuel tank provides fuel to the turboshaft engine module; the energy converter is responsible for converting electricity and mechanical energy into each other to achieve energy optimization management of the system; the energy converter adopts a high-efficiency bidirectional DC-DC converter design, which can respond quickly when switching between electric mode and turboshaft mode to ensure seamless power conversion.

[0031] As a preferred solution of the method for optimizing the power matching of the land-to-air conversion of the hybrid propulsion system of the present invention, the propulsion conversion module includes a power coupling mechanism, a thrust transmission system and a switching control unit; the power coupling mechanism is connected to the thrust transmission system to integrate and distribute the output power of the electric drive module and the turboshaft engine module to achieve a smooth switching of the flying car between the ground driving state and the air flight state; the thrust transmission system is connected to the switching control unit to control its working state to achieve the conversion from the wheel drive mode to the turbine drive mode, ensuring that the flying car maintains a stable power output during the conversion process; the switching control unit has a multi-level redundant design to improve the system in the event of a failure. Reliability, ensuring that the flying car can still safely complete the state transition in an emergency; the intelligent power distribution controller communicates with the motor controller, the engine controller and the energy management module through the CAN bus, and establishes a power distribution model based on the real-time state data of the flying car such as speed, altitude, acceleration, tilt angle and environmental parameters such as wind speed and temperature, and dynamically adjusts the power output ratio of the motor and the turboshaft engine when switching between land driving and air flight states to ensure that the system completes the transition smoothly and efficiently. It also optimizes the consumption of batteries and fuel in real time through the energy management module to improve energy utilization efficiency, and reduces thrust loss and energy waste during the conversion process through precise control of power output.

[0032] Beneficial effects of the present invention:

[0033] 1. The present invention provides an efficient power matching optimization method, which can adapt to the dynamic power demand changes of the flying car under land and air conditions in real time, and ensure that the power output of the system under different conversion conditions is always in the optimal state;

[0034] 2. The present invention realizes a smooth transition between driving on land and flying in the air. By using an adaptive power allocation strategy, the energy loss and system instability during the switching process are significantly reduced, ensuring the smooth operation of the flying car under various working conditions.

[0035] 3. By introducing a closed-loop feedback control mechanism and an adaptive adjustment strategy, the present invention enables the system to quickly respond and optimize power distribution when faced with different environmental conditions and sudden changes, ensuring that the system is always in the best working state, thereby greatly improving flight safety and energy utilization efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0037] Figure 1 is a schematic diagram of the specific structure of the hybrid propulsion system of the present invention;

[0038] Figure 2 The figure is a flow chart of the principle of the method of the present invention. DETAILED DESCRIPTION

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0040] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0041] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0042] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0043] Reference Figure 1-Figure 2 , provides a hybrid propulsion system land-to-air conversion power matching optimization method, including the following steps:

[0044] Step 1: Construct a method for identifying the land-to-air transition conditions of a flying car. Use a variety of sensors to monitor the speed, acceleration, attitude angle, tire pressure, and propeller speed parameters of the flying car in real time, identify the land driving, take-off, cruising, and landing conditions, and trigger the power matching optimization program when the state switches.

[0045] Step 2: Based on the working condition identification results in step 1, calculate the power requirements for land driving and air flight; the power demand for land driving is mainly affected by road friction, acceleration requirements and vehicle load, while the power demand for air flight is determined by air resistance, flight altitude and speed. Based on this, a power matching optimization model is established;

[0046] Step 3: Based on the power demand calculation results in step 2, formulate a land-to-air switching strategy; in the transition from land to air, first increase the motor output power, and then gradually introduce the power output of the turboshaft engine to achieve a smooth transition; in the transition from air to land, gradually reduce the turboshaft engine power output and increase the motor driving force to achieve a smooth landing, and optimize the power distribution through an adaptive adjustment mechanism;

[0047] Step 4: Based on the optimization strategy in step 3, a feedback control mechanism is established to monitor the power matching effect in real time, and the power allocation strategy is adjusted according to the specific optimization requirements of the working conditions to ensure the optimal power matching under different conversion conditions, especially for fine control of special needs in the take-off and landing stages.

[0048] Among them, step one specifically includes:

[0049] 11) Multi-sensor fusion algorithm design: Using the longitudinal acceleration a measured by the acceleration sensor x , lateral acceleration a y , vertical acceleration a z and the roll angle measured by the attitude angle sensor , pitch angle θ, yaw angle ψ, and the Kalman filter algorithm are used to fuse the current attitude and motion state of the flying car. The formula is as follows: ,in, is the current state estimation, K(k) is the Kalman gain, z(k) is the sensor observation value, and H is the observation matrix;

[0050] 12) Based on the state estimation results in 11), a state switching detection mechanism is designed: when it is detected that the combination of velocity v, acceleration a and attitude angle θ reaches a critical value (v c ,a c ,θ c ), the system recognizes the state switch of the flying car; for example, the recognition condition of the take-off condition is defined as: , where v 起飞 、a z临界 ,θ 临界 is the takeoff threshold.

[0051] Furthermore, step 2 specifically includes:

[0052] 21) Based on the state switching detection results in 12), a land driving power demand calculation model is established: according to the ground friction F r , vehicle mass m and acceleration a to calculate the land driving power demand P 陆地 , the formula is as follows: ,in, , μ is the ground friction coefficient, g is the acceleration due to gravity;

[0053] 22) Based on the land driving power model in 21), a calculation model for the power demand of air flight is established: When flying in the air, the air resistance F d and the power demand P determined by the lift demand L 空中 , the calculation formula is as follows: , where C d is the air resistance coefficient, is the air density, A is the windward area, To promote system efficiency.

[0054] Among them, step three specifically includes:

[0055] 31) Based on the power demand calculation results in 22), design a power distribution strategy from land to air: During the takeoff phase, increase the motor output power P 电机 , and when the critical speed v is reached c Later, the turboshaft engine power P was gradually introduced. 发动机 , the formula is as follows: , where t 切换 is the total time to switch from land mode to air mode, and t is the time in the air during the switching time;

[0056] 32) Based on the power allocation strategy in 31), design a power conversion mechanism from air to land: During the landing phase, gradually reduce the turboshaft engine power P 发动机 , and increase the motor driving force P 电机 , for a smooth landing: ;

[0057] 33) Based on the power conversion mechanism in 32), an adaptive adjustment mechanism is designed: the system adjusts the power according to the real-time wind speed v w and ground friction F r Feedback dynamically adjusts the power output ratio of the motor and the turboshaft engine to achieve the optimal power distribution. The adjustment formula is as follows: ,in, To adjust the power gain, Kp, is the adjustment coefficient, v w短 is the target wind speed, F r短 is the target ground friction.

[0058] Furthermore, step 4 specifically includes:

[0059] 41) Based on the adaptive adjustment mechanism in 33), a feedback control equation is designed: by real-time monitoring of the power matching effect, a closed-loop control equation is established to adjust the power allocation strategy to achieve the optimal state. The control equation is as follows: ,in, To adjust the power, is the original power, E 参考 (t) is the reference power output, E 实际 (t) is the real-time power output, K is the feedback gain;

[0060] 42) Based on the feedback control equation in 41), design a specific optimization control strategy for the working condition: for key working conditions such as takeoff and landing, design specific control gains K 起飞 and K 降落 , to meet the power requirements at different stages, the formula is as follows: , where the function f adjusts the control gain according to the current state parameters.

[0061] The hybrid propulsion system land-to-air conversion power matching optimization method is based on the hybrid propulsion system, which includes: an electric drive module 1, a turboshaft engine module 2, an energy management module 3, a propulsion conversion module 4 and an intelligent power distribution controller 5;

[0062] The electric drive module 1 and the turboshaft engine module 2 cooperate with each other to form the core drive system for the flying car to seamlessly switch between land driving and air flying; the energy management module 3 is responsible for allocating and adjusting the energy supply according to the implementation conditions; the propulsion conversion module 4 integrates and distributes the outputs of the motor drive module 1 and the turboshaft engine module 2 to ensure that the flying car runs smoothly under various conditions; the intelligent power distribution controller 5 receives real-time data from the external environment and the flying car itself, and dynamically adjusts the working conditions of each module, thereby achieving efficient and stable land-to-air conversion while ensuring energy utilization efficiency and safety.

[0063] Specifically, the electric drive module 1 includes: a motor controller 101, a motor 102, a power management unit 103, a reduction mechanism 104 and a wheel drive assembly 105; the motor controller 101 connects the motor 102 and the power management unit 103, and controls the discharge of the motor management unit 103 by real-time monitoring of the speed, torque and current of the motor 102, thereby accurately controlling the output power of the motor 102; the motor 102 is connected to the reduction mechanism 104, and the reduction mechanism 104 is connected to the wheel drive assembly 105. Through the action of the reduction mechanism 104, the output power of the motor 102 is further adjusted to meet the driving requirements under different working conditions; the reduction mechanism 104 adopts a two-stage planetary gear set design to improve the torque output of the motor 102, and realizes independent drive control of each wheel through electronic differential control to ensure driving stability under turning and asymmetric load conditions.

[0064] The turboshaft engine module 2 includes: an engine controller 201, a fuel management unit 202, a supercharging system 203, an auxiliary power unit 204 and a turboshaft engine 205; the engine controller 201 is connected to the fuel management unit 202, the supercharging system 203 and the auxiliary power unit 204; the fuel management unit 202 is controlled by the engine controller 201 to provide the required fuel supply; the supercharging system 203 and the fuel management unit 202 work in coordination to adjust the fuel injection amount and the air mixing ratio to improve the power and performance of the turboshaft engine 205; the auxiliary power unit 204 serves as a supporting device to help maintain the basic operation of the system when the turboshaft engine 205 is turned off or under low load; the turboshaft engine 205 is connected to the fuel management unit 202, the supercharging system 203 and the auxiliary power unit 204, and is controlled by the three to achieve the optimal working state; the supercharging system 203 is a variable geometry turbocharger to adapt to the thrust requirements under different flight altitudes and air density conditions, ensuring the efficient operation of the turboshaft engine 205 under various flight conditions.

[0065] Among them, the energy management module 3 includes: an energy distribution controller 301, a high-voltage battery pack 302, a fuel tank 303 and an energy converter 304; the energy distribution controller 301 is connected to the high-voltage battery pack 302 and the fuel tank 303, monitors the battery power, fuel reserves and power requirements in real time, and dynamically adjusts the distribution of electricity and fuel to ensure the energy supply of the system under different working conditions; the high-voltage battery pack 302 is connected to the energy converter 304 to provide power for the electric drive module 1; the fuel tank 303 provides fuel for the turboshaft engine module 2; the energy converter 304 is responsible for converting electricity and mechanical energy to each other to achieve energy optimization management of the system; the energy converter 304 adopts a high-efficiency bidirectional DC-DC converter design, which can respond quickly when switching between electric mode and turboshaft mode to ensure seamless power conversion.

[0066] Furthermore, the propulsion conversion module 4 includes: a power coupling mechanism 401, a thrust transmission system 402 and a switching control unit 403; the power coupling mechanism 401 is connected to the thrust transmission system 402, and the output power of the electric drive module 1 and the turboshaft engine module 2 is integrated and distributed to achieve a smooth switching of the flying car between the ground driving state and the air flight state; the thrust transmission system 402 is connected to the switching control unit 403, and controls its working state to achieve the conversion from the wheel drive mode to the turbine drive mode, ensuring that the flying car maintains a stable power output during the conversion process; the switching control unit 403 has a multi-level redundant design to improve the reliability of the system in the event of a fault, and ensure that the flying car can maintain a stable power output during the sudden change. The intelligent power distribution controller 5 communicates with the motor controller 102, the engine controller 101 and the energy management module 3 through the CAN bus, establishes a power distribution model based on the real-time state data of the flying car such as speed, altitude, acceleration, tilt angle and environmental parameters such as wind speed and temperature, and dynamically adjusts the power output ratio of the motor 102 and the turboshaft engine 205 when switching between land driving and air flight states to ensure that the system completes the transition smoothly and efficiently. It also optimizes the consumption of batteries and fuel in real time through the energy management module 3 to improve energy utilization efficiency, and reduces thrust loss and energy waste during the conversion process through precise control of power output.

[0067] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A hybrid propulsion system land-to-air conversion power matching optimization method, characterized in that: The following steps are involved: Step 1: Construct a method for identifying the land-to-air transition conditions of a flying car. Use a variety of sensors to monitor the speed, acceleration, attitude angle, tire pressure, and propeller speed parameters of the flying car in real time, identify the land driving, take-off, cruising, and landing conditions, and trigger the power matching optimization program when the state switches. Step 2: Based on the working condition identification results in step 1, calculate the power requirements for land driving and air flight; the power demand for land driving is mainly affected by road friction, acceleration requirements and vehicle load, while the power demand for air flight is determined by air resistance, flight altitude and speed. Based on this, a power matching optimization model is established; Step 3: Based on the power demand calculation results in step 2, formulate a land-to-air switching strategy; in the transition from land to air, first increase the motor output power, and then gradually introduce the power output of the turboshaft engine to achieve a smooth transition; in the transition from air to land, gradually reduce the turboshaft engine power output and increase the motor driving force to achieve a smooth landing, and optimize the power distribution through an adaptive adjustment mechanism; Wherein, the step three specifically includes: 31) Based on the power demand calculation results in step 2, design a power allocation strategy from land to air: During the takeoff phase, increase the motor output power P 电机 , and when the critical speed v is reached c Later, the turboshaft engine power P was gradually introduced. 发动机 , the formula is as follows: Among them, t 切换 is the total time to switch from land mode to air mode, and t is the time elapsed from the current moment in the switching process; 32) Based on the power allocation strategy in 31), design a power conversion mechanism from air to land: During the landing phase, gradually reduce the turboshaft engine power P 发动机 , and increase the motor driving force P 电机 , for a smooth landing: 33) Based on the power conversion mechanism in 32), an adaptive adjustment mechanism is designed: the system adjusts the power according to the real-time wind speed v w and ground friction F r Feedback dynamically adjusts the power output ratio of the motor and the turboshaft engine to achieve the optimal power distribution. The adjustment formula is as follows: in, To adjust the power gain, Kp, is the adjustment coefficient, v w短 is the target wind speed, F r短 is the set target ground friction; Step 4: Based on the optimization strategy in step 3, a feedback control mechanism is established to monitor the power matching effect in real time, and the power allocation strategy is adjusted according to the specific optimization requirements of the working conditions to ensure the optimal power matching under different conversion conditions, especially for the special needs of the take-off and landing stages. Wherein, the step 4 specifically includes: 41) Based on the adaptive adjustment mechanism in step 3, design the feedback control equation: by real-time monitoring of the power matching effect, establish a closed-loop control equation, and adjust the power allocation strategy to achieve the optimal state. The control equation is as follows: in, To adjust the power, is the original power, E 参考 (t) is the reference power output, E 实际 (t) is the real-time power output, K is the feedback gain; 42) Based on the feedback control equation in 41), design a specific optimization control strategy for the working condition: for key working conditions such as takeoff and landing, design specific control gains K 起飞 and K 降落 , to meet the power requirements at different stages, the formula is as follows: Among them, the function f adjusts the control gain according to the current state parameters.

2. The hybrid propulsion system land-to-air conversion power matching optimization method according to claim 1 is characterized by: The step 1 specifically includes: 11) Multi-sensor fusion algorithm design: Using the longitudinal acceleration a measured by the acceleration sensor x , lateral acceleration a y , vertical acceleration a z The roll angle φ, pitch angle θ, and yaw angle ψ measured by the attitude angle sensor are fused through the Kalman filter algorithm to obtain the current attitude and motion state of the flying car. The formula is as follows: in, is the current state estimation, K(k) is the Kalman gain, z(k) is the sensor observation value, and H is the observation matrix; 12) Based on the state estimation results in 11), a state switching detection mechanism is designed: when it is detected that the combination of velocity v, acceleration a and attitude angle θ reaches a critical value (v c ,a c ,θ c ), the system recognizes the state switch of the flying car; the recognition condition of the take-off condition is defined as: Among them, v 起飞 、a z临界 ,θ 临界 is the takeoff critical value.

3. The hybrid propulsion system land-to-air conversion power matching optimization method according to claim 2 is characterized by: The step 2 specifically includes: 21) Based on the state switching detection results in 12), a land driving power demand calculation model is established: according to the ground friction F r , vehicle mass m and acceleration a to calculate the land driving power demand P 陆地 , the formula is as follows: Among them, Fr=μ⋅m⋅g, μ is the ground friction coefficient, g is the acceleration of gravity; 22) Based on the land driving power model in 21), a calculation model for the power demand of air flight is established: When flying in the air, the air resistance F d and the power demand P determined by the lift demand L 空中 , the calculation formula is as follows: Among them, C d is the air resistance coefficient, is the air density, A is the windward area, To promote system efficiency.

4. The hybrid propulsion system land-to-air conversion power matching optimization method according to claim 1 is characterized by: The hybrid propulsion system land-to-air conversion power matching optimization method is based on the hybrid propulsion system, wherein the hybrid propulsion system comprises: an electric drive module (1), a turboshaft engine module (2), an energy management module (3), a propulsion conversion module (4) and an intelligent power distribution controller (5); The electric drive module (1) and the turboshaft engine module (2) cooperate with each other to form a core drive system for the flying car to seamlessly switch between driving on land and flying in the air; the energy management module (3) is responsible for allocating and adjusting energy supply according to the operating conditions; the propulsion conversion module (4) integrates and distributes the outputs of the electric drive module (1) and the turboshaft engine module (2) to ensure that the flying car runs smoothly under various operating conditions; the intelligent power distribution controller (5) receives real-time data from the external environment and the flying car itself, and dynamically adjusts the working conditions of each module, thereby achieving efficient and stable land-to-air conversion while ensuring energy utilization efficiency and safety.

5. The hybrid propulsion system land-to-air conversion power matching optimization method according to claim 4 is characterized by: The electric drive module (1) comprises: a motor controller (101), a motor (102), a power management unit (103), a speed reduction mechanism (104) and a wheel drive assembly (105); the motor controller (101) is connected to the motor (102) and the power management unit (103), and controls the discharge of the motor management unit (103) by real-time monitoring of the rotation speed, torque and current of the motor (102), thereby accurately controlling the output power of the motor (102); the motor (102) is connected to the speed reduction mechanism (104), and the speed reduction mechanism (104) is connected to the wheel drive assembly (105), and through the action of the speed reduction mechanism (104), the output power of the motor (102) is further adjusted to meet the driving requirements under different working conditions; the speed reduction mechanism (104) adopts a two-stage planetary gear set design to improve the torque output of the motor (102), and realizes independent drive control of each wheel through electronic differential control, thereby ensuring driving stability under turning and asymmetric load conditions.

6. The hybrid propulsion system land-to-air conversion power matching optimization method according to claim 5 is characterized by: The turboshaft engine module (2) comprises: an engine controller (201), a fuel management unit (202), a supercharging system (203), an auxiliary power unit (204) and a turboshaft engine (205); the engine controller (201) is connected to the fuel management unit (202), the supercharging system (203) and the auxiliary power unit (204); the fuel management unit (202) is controlled by the engine controller (201) to provide a required fuel supply; the supercharging system (203) and the fuel management unit (202) work in coordination to adjust the fuel injection amount and the air mixing ratio. The power and performance of the turboshaft engine (205) are improved; the auxiliary power unit (204) serves as a support device to help maintain basic operation of the system when the turboshaft engine (205) is turned off or under low load; the turboshaft engine (205) is connected to the fuel management unit (202), the boost system (203) and the auxiliary power unit (204), and is coordinated and controlled by the three to achieve an optimal working state; the boost system (203) is a variable geometry turbocharger to adapt to thrust requirements under different flight altitudes and air density conditions, ensuring efficient operation of the turboshaft engine (205) under various flight conditions.

7. The hybrid propulsion system land-to-air conversion power matching optimization method according to claim 6 is characterized by: The energy management module (3) comprises: an energy distribution controller (301), a high-voltage battery pack (302), a fuel tank (303) and an energy converter (304); the energy distribution controller (301) is connected to the high-voltage battery pack (302) and the fuel tank (303), monitors the battery power, fuel reserve and power demand in real time, and dynamically adjusts the distribution of power and fuel to ensure the energy supply of the system under different working conditions; the high-voltage battery pack (302) is connected to the energy converter (304) to provide power to the electric drive module (1); the fuel tank (303) provides fuel to the turboshaft engine module (2); the energy converter (304) is responsible for converting power and mechanical energy to each other to achieve energy optimization management of the system; the energy converter (304) adopts a high-efficiency bidirectional DC-DC converter design, and can respond quickly when switching between electric mode and turboshaft mode, ensuring seamless power conversion.

8. The hybrid propulsion system land-to-air conversion power matching optimization method according to claim 7 is characterized by: The propulsion conversion module (4) comprises: a power coupling mechanism (401), a thrust transmission system (402) and a switching control unit (403); the power coupling mechanism (401) is connected to the thrust transmission system (402) to integrate and distribute the output power of the electric drive module (1) and the turboshaft engine module (2), thereby realizing a smooth switching of the flying car between the ground driving state and the air flight state; the thrust transmission system (402) is connected to the switching control unit (403) to control its working state to realize the switching from the wheel drive mode to the turbine drive mode, thereby ensuring that the flying car maintains a smooth power output during the switching process; the switching control unit (403) has a multi-level redundant design to improve the reliability of the system in the event of a failure, thereby ensuring the flight The automobile can still safely complete the state transition in an emergency; the intelligent power distribution controller (5) communicates with the motor controller (101), the engine controller (201) and the energy management module (3) via the CAN bus, establishes a power distribution model based on the real-time state data of the flying automobile such as speed, altitude, acceleration, tilt angle and environmental parameters such as wind speed and temperature, and dynamically adjusts the power output ratio of the motor (102) and the turboshaft engine (205) when switching between the land driving state and the air flight state, ensuring that the system completes the transition smoothly and efficiently. It also optimizes the consumption of batteries and fuel in real time through the energy management module (3), improves energy utilization efficiency, and reduces thrust loss and energy waste during the conversion process through precise control of power output.

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