A power control method, medium and device for model aircraft

Abstract

The present application relates to a power control method, medium and device for a model aircraft, wherein the battery pack of the model aircraft is composed of a plurality of first batteries and at least one second battery connected in series, and the method comprises the following steps: when the model aircraft is flying horizontally, only the plurality of first batteries are enabled; the pitch angle of the model aircraft is collected and recorded as W, and the acceleration of the model aircraft in the vertical direction is collected and recorded as A; when the relationship is satisfied: W<0° and A<0m / s 2 When the model aircraft is determined to be in a weightless dive state, the plurality of first batteries are kept enabled, and the second battery connected in series with the first battery is enabled; when the relationship is satisfied: W<0° and A<‑15m / s 2 When the first battery and the second battery are kept enabled, the propeller is stopped; the pitch angle of the aircraft model is adjusted, and when the relationship is satisfied: W ≥ 0°, the second battery is disabled, the first battery is kept enabled, and the propeller is restarted. The above method reduces the risk of thermal runaway.

Description

Technical Field

[0001] The present application relates to the field of model aircraft, and in particular to a power control method, medium and equipment for a model aircraft. Background Art

[0002] Model airplanes are a type of drone, and most of them use batteries as their power source. Because model airplanes are light, they are more likely to enter a weightless state when diving at high speed.

[0003] In a weightless environment, the fluidity of the liquid is affected. Normally, the electrolyte in the battery has a certain fluidity (especially after the battery has been used for a long time), but in a weightless environment, the flow and distribution of the electrolyte is no longer controlled by gravity, which may cause the liquid to redistribute in the battery. If the electrolyte is concentrated in certain areas, it may cause local overheating and increase the risk of thermal runaway.

[0004] Therefore, a method, medium and equipment for controlling the power of a model aircraft in a dive and weightlessness state is needed. Summary of the invention

[0005] The purpose of this application is to provide a power control method in a diving weightlessness state.

[0006] According to one aspect of the present application, a power control method for a model aircraft is provided, wherein the battery pack of the model aircraft is composed of a plurality of first batteries and at least one second battery connected in series, and the method comprises the steps of:

[0007] When the aircraft model is flying horizontally, only the first batteries are used.

[0008] The pitch angle of the aircraft model is collected and recorded as W, and the acceleration of the aircraft model in the vertical direction is collected and recorded as A;

[0009] When the relationship is satisfied: W<0° and A<0m / s 2 When it is determined that the aircraft model is in a weightless dive state, the plurality of first batteries are kept enabled, and the second batteries connected in series with the first batteries are enabled;

[0010] When the relationship is satisfied: W<0° and A<-15m / s 2 When the first battery and the second battery are kept enabled, the propeller is stopped from rotating;

[0011] Adjust the pitch angle of the aircraft model, and when the relationship is satisfied: W ≥ 0°, disable the second battery and keep the first battery enabled, and restart the propeller.

[0012] More preferably, a plurality of first batteries are connected in series in sequence, and a second battery is connected in series with a first battery located at any one of the first and last ends;

[0013] The second battery is connected in series with the first switch and in parallel with the second switch;

[0014] When only the plurality of first battery groups are enabled, the first switch is opened and the second switch is closed;

[0015] When the plurality of first battery groups are kept enabled and the second battery connected in series with the first battery is enabled, the first switch is closed and the second switch is opened.

[0016] More preferably, multiple groups of first batteries are connected in series in sequence, and the second battery is connected in series with the first battery at the tail end, and the voltages of the first batteries are sequentially recorded as U1, U2, U3...Un;

[0017] Calculate the discrete values ​​of the multiple groups of first batteries and record them as D, and determine whether the voltages of the multiple groups of first batteries are balanced, and the discrete values ​​satisfy the relationship:

[0018] ;

[0019] ;

[0020] Wherein, n is the number of groups of the first battery, is the average voltage of all first batteries, is the voltage of the first battery in the i-th group.

[0021] More preferably, when the discrete value D is equal to 0, U1 = U2 = U3 . . . = Un, the voltages of the plurality of first battery groups are completely balanced, the first switch is opened, the second switch is closed, and only the plurality of first battery groups are enabled.

[0022] More preferably, a judgment threshold is preset and recorded as L, and the judgment threshold is compared with the discrete value to judge the voltage balancing performance of the first battery;

[0023] When D<L, the voltage balance of the plurality of first batteries is good, the first switch is disconnected, the second switch is closed, and only the plurality of first batteries are enabled;

[0024] When D≥L, the voltages of the plurality of first batteries are unbalanced, the first switch is closed, and the second switch is opened, so that the plurality of first battery groups are kept enabled and the second battery connected in series with the first battery is enabled.

[0025] Preferably, the safe duration of the weightless dive state is preset and recorded as T1, and the duration of the aircraft model entering the weightless dive state is recorded as T2. When the relationship is satisfied:

[0026] -90°≤W<-20°;

[0027] 0>A≥-15m / s 2 ;

[0028] When T2≥T1, the propeller speed is limited to the preset minimum speed, which is recorded as V1, and the pitch angle W of the aircraft model begins to increase.

[0029] Preferably, the preset minimum rotation speed V1 of the propeller satisfies the relationship:

[0030] 0 rpm<V1≤3000 rpm.

[0031] More preferably, when the relationship is satisfied:

[0032] -20°≤W<0°;

[0033] 0>A≥-15m / s 2 ;

[0034] When T2≥T1, the restriction on the propeller speed is released.

[0035] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor is caused to execute the steps of the method.

[0036] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method.

[0037] This application has the following beneficial effects:

[0038] By dynamically controlling the working status of the battery pack and propellers, the risk of thermal runaway of the battery during a weightless dive is resolved. The specific method is to use the pitch angle and acceleration to monitor the flight status of the model aircraft, enable the additional second battery to share the load of the first battery under weightless conditions, and balance the battery pack voltage; when the dive acceleration exceeds the safety threshold, limit the propeller speed or even stop it to reduce the dive speed; after the flight returns to stability, readjust the power distribution to ensure the flight safety of the model aircraft and the stability of the battery system. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 This is a flow chart of a power control method for a model aircraft according to an embodiment of the present application;

[0041] Figure 2A circuit diagram of a battery for a model aircraft according to an embodiment of the present application;

[0042] Figure 3 A computer medium for a power control method of a model aircraft according to an embodiment of the present application;

[0043] Description of the accompanying drawings: 100, a power control method for a model aircraft; 200, a computer medium; 10, a first battery; 20, a second battery; 30, a first switch; 40, a second switch. DETAILED DESCRIPTION

[0044] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present application are given in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive.

[0045] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0047] Please refer to Figure 1 - Figure 3 In one embodiment of the present application, a method for controlling the power of a model aircraft is provided. The battery pack of the model aircraft is composed of a plurality of first batteries and at least one second battery connected in series. The method comprises the steps of:

[0048] S10: When the aircraft model is flying horizontally, only the first batteries are used;

[0049] S20: collecting the pitch angle of the aircraft model and recording it as W, collecting the acceleration of the aircraft model in the vertical direction and recording it as A;

[0050] S30: When the relationship is satisfied: W<0° and A<0m / s 2When it is determined that the aircraft model is in a weightless dive state, the plurality of first batteries are kept enabled, and the second batteries connected in series with the first batteries are enabled;

[0051] When the relationship is satisfied: W<0° and A<-15m / s 2 When the first battery and the second battery are kept enabled, the propeller is stopped from rotating;

[0052] S40: Adjust the pitch angle of the aircraft model, and when the relationship W≥0° is satisfied, disable the second battery and keep the first battery enabled, and restart the propeller.

[0053] In S10, the battery management system (BMS) of the aircraft model connects multiple groups of first batteries to the power system to provide stable power output for the propeller motor. The second battery is disconnected by a series switch and is in standby mode. The inertial measurement unit (IMU) monitors the pitch angle (W) and vertical acceleration (A) of the aircraft model in real time to ensure that the aircraft model is in a normal horizontal flight state (W≈ 0°). The current and voltage provided by the first battery group are adjusted by the electronic control (ESC) to meet the power requirements of the aircraft model during horizontal flight.

[0054] When the model aircraft is flying horizontally, only the first battery pack is used. This not only reduces unnecessary battery consumption and improves endurance, but also reduces the number of cycles of the backup second battery to avoid over-discharge. In addition, the first battery pack outputs stable power to ensure the normal flight of the model aircraft.

[0055] In S20, the inertial measurement unit (IMU) collects the attitude data of the aircraft model through the gyroscope and accelerometer, including the pitch angle (W) and vertical acceleration (A). The attitude data is transmitted to the flight control system (FCU) through a high-speed communication interface. The flight control system uses filtering algorithms (such as Kalman filtering) to process the collected data to eliminate noise and errors and ensure the accuracy of the attitude data. Based on the attitude data, it can accurately determine whether the aircraft model has entered a weightless dive state and provide the prerequisite for subsequent power output.

[0056] In S30, a power output plan is executed according to the collected results of the pitch angle (W) and the vertical acceleration (A) of the aircraft model.

[0057] When the pitch angle is less than 0°, the vertical acceleration is also less than 0m / s 2 When the aircraft model is in a weightless dive state, the flight control system will determine that the aircraft model is in a weightless dive state. In order to maintain power balance, the output motor of the first battery in the weightless dive state needs to have a higher voltage or current output to maintain power balance, which will cause the internal resistance of the first battery to increase significantly, and the battery temperature will rise rapidly. It will also aggravate the over-discharge of each group of first batteries, resulting in more significant imbalance of the first batteries.

[0058] Therefore, in the weightless dive state, the first battery and the second battery of the aircraft model are activated. After the second battery is connected in series, the voltage of the battery of the aircraft model increases, while the current demand of each battery group is relatively reduced. The load of a single battery group is reduced, and the speed at which the unbalanced effect between the cells appears is slowed down, thereby extending the time the battery group maintains the balanced state. When high power is required, the second battery in series can jointly undertake the energy output task and reduce the single discharge depth of each battery group. The shallow discharge mode reduces the possibility of the battery cell entering the over-discharge state and prolongs the life of the battery cell.

[0059] The overall output capacity of the battery is improved, and the fluctuation of power output is reduced, so that the model aircraft can achieve more stable performance under complex flight conditions. After the second battery is connected in series, the discharge rate of the first battery is reduced, the heat generation is reduced, and the internal temperature is more stable. The series connection of multiple groups of batteries reduces the possibility of overheating of a single group of batteries, reducing the risk of thermal runaway or spontaneous combustion from the source.

[0060] When the pitch angle is less than 0°, the vertical acceleration is also less than -15m / s 2 At this time, it is judged that the dive weightlessness has intensified to a serious degree, the dive speed of the model aircraft is too fast, and the dive acceleration of the model aircraft is too fast, which will cause the model aircraft to fail to pull up in time and crash. Therefore, in addition to keeping the first battery and the second battery enabled, the rotation of the propeller is also stopped to reduce the thrust of the model aircraft in the dive, extend the dive time of the model aircraft, and ensure that the model aircraft has time to perform the pull-up action.

[0061] The flight control system sends a stop command to the ESC, gradually reducing the propeller speed until it stops completely. This prevents the model aircraft structure or power system from being damaged by a dive that is too fast. Stopping the propeller during a high-speed dive can also reduce battery energy consumption. Stopping the propeller during a high-speed dive can also facilitate full power output to adjust the pitch angle.

[0062] When the propeller turns, it generates forward thrust. In a dive, if the propeller thrust is in the same direction as the aircraft's motion (i.e. forward), then this thrust will increase the aircraft's dive speed. This is because the propeller thrust adds extra power to the aircraft's forward motion.

[0063] When the propellers are not turning, the aircraft will lose the thrust and lift generated by the propellers. In a dive, the aircraft will be primarily affected by gravity and air resistance. Gravity will continue to accelerate the aircraft downward, while air resistance will attempt to slow the aircraft's forward and downward speed. Due to the loss of propeller thrust, the aircraft's dive speed may be limited to a certain extent, as there is no additional power to intensify the dive.

[0064] In S40, the flight control system adjusts the elevator of the aircraft model to gradually restore the pitch angle to W≥0°. When the pitch angle W≥0°, the aircraft model is judged to be in a horizontal flight attitude or an ascending flight attitude, and the aircraft model returns to a normal flight attitude. At this time, the second battery can be disabled and the first battery can be kept enabled. This technical solution optimizes energy distribution and improves flight endurance. After restarting the propeller, the aircraft model obtains thrust support and gets rid of the dive state.

[0065] Through dual monitoring of pitch angle and acceleration, combined with dynamic start and stop of the battery pack and propeller control, precise power management of the model aircraft in a weightless dive state is achieved, which not only ensures flight safety but also optimizes battery energy consumption and power output efficiency.

[0066] A plurality of first batteries are sequentially connected in series, and a second battery is connected in series with the first battery located at either end. The second battery is connected in series with a first switch, and the second battery is connected in parallel with a second switch. When only a plurality of first batteries are enabled, the first switch is disconnected and the second switch is closed. When the plurality of first batteries are enabled and the second battery connected in series with the first battery is enabled, the first switch is closed and the second switch is disconnected.

[0067] A plurality of first batteries are connected in series in sequence to form a main circuit, which is used for the main power output of the model aircraft. The second battery is connected in series with any first battery at the head and tail ends in a controllable manner (usually the battery close to the positive or negative electrode is selected). The series structure ensures that when the second battery and the first battery participate in the circuit work together, the total voltage increases, thereby improving the power supply capacity.

[0068] The standard battery pack connection method is adopted, and multiple first batteries are connected through battery connectors and wires to form a series circuit. A switch assembly is set at the location where the second battery needs to be connected to control the circuit to be closed or disconnected. Ensure that the addition of the second battery can quickly increase the total circuit voltage to meet high-power demand scenarios such as model aircraft diving and climbing. Through the series structure, the current of different battery packs is consistent, reducing the risk of uneven battery pack load.

[0069] The first switch is connected in series in the circuit of the second battery to control whether the second battery participates in the circuit operation. The second switch is connected in parallel at both ends of the second battery.

[0070] Use high-reliability MOS tubes or relays as the first switch and the second switch to achieve circuit on-off control. The parallel second switch automatically closes when the first switch is disconnected, providing a low-impedance path to ensure continuous operation of the circuit. Flexible control of the addition or withdrawal of the second battery ensures stable operation of the aircraft model circuit during power switching. Avoid wasting energy when the second battery is not needed, and prevent short-term power outages during the disconnection process.

[0071] When the second battery is not enabled, close the second switch to form a short circuit and bypass the second battery. In low-load conditions (such as normal flight conditions), only the first battery pack is enabled. Avoid using the second battery under low-load conditions, thereby extending the service life of the second battery. It also reduces the battery energy consumption of the model aircraft and improves the overall endurance.

[0072] When multiple groups of first batteries are enabled and the second battery connected in series with the first battery is enabled, the first switch is closed and the second switch is opened. In a high load state (such as a weightless dive state), the second battery joins the circuit through the first switch to improve the power supply capacity of the aircraft model. At the same time, the second switch is opened to cut off the short-circuit path to ensure that the second battery participates in the power supply.

[0073] Multiple groups of first batteries are connected in series in sequence, and the second battery is connected in series with the first battery at the tail end. The voltages of the first batteries are recorded as U1, U2, U3...Un in sequence. Discrete values ​​of the multiple groups of first batteries are calculated and recorded as D, and it is determined whether the voltages of the multiple groups of first batteries are balanced. The discrete values ​​satisfy the relationship:

[0074]

[0075] Wherein, n is the number of groups of the first battery, is the average voltage of all first batteries, is the power of the first battery in the i-th group.

[0076] Voltage sensors or shunts are installed at both ends of each group of first batteries to detect voltage values ​​U1, U2, U3...Un in real time.

[0077] A plurality of groups of first batteries and second batteries are connected in series, and voltage detection sensors are arranged at both ends of each group of first batteries.

[0078] And periodically collect the voltage data of each group of batteries.

[0079] The discrete value D is calculated according to the formula, and the balancing status of multiple groups of first batteries is monitored in real time. If the discrete value is large, it indicates that the voltage difference of multiple groups of first batteries is large, which may cause overcharge or over-discharge of a group of first batteries and requires balancing. It is used to improve the overall performance of the battery pack and avoid battery loss. It also enhances the safety of multiple groups of first batteries and reduces the risk of overheating, over-discharge or spontaneous combustion caused by battery imbalance.

[0080] Determine whether the voltages of multiple groups of first batteries are balanced. Take an example to illustrate. Assume that the aircraft model has 4 groups of first batteries (n=4n = 4n=4), and the voltages of each group of first batteries are:

[0081] U1=3.9V, U2=3.85V, U3=3.8V, U4=3.95V;

[0082] Calculate the average voltage through the first battery of each group :

[0083] ;

[0084] according to , calculate the square of the deviation between the first battery voltage of each group and the average voltage:

[0085] ;

[0086] Calculate the discrete values ​​of the first battery of the 4 groups:

[0087]

[0088] The calculated discrete value is compared with the preset threshold to determine the balance between the multiple groups of first batteries. The preset threshold is usually 1-3% of the battery operating voltage range as a reference, and can also be dynamically adjusted according to performance or safety requirements. The recommended range is 0.05V ~ 0.1V. The preset threshold is now set to 0.05V;

[0089] When D=0.056V>0.05V and the discrete value D exceeds the preset threshold, the first switch is closed and the second switch is opened, and the first battery and the second battery are enabled, so as to automatically start the balancing circuit and balance the voltage of each battery group.

[0090] When the discrete value D is equal to 0, U1=U2=U3...=Un, and the voltages of the multiple groups of first batteries are completely balanced. The connection between the second battery and the first battery is cut off. Only the multiple groups of first batteries are kept for power supply. When the battery voltage is well balanced, avoid additional activation of the second battery, reduce energy waste, and extend battery life. The automatic switching of the battery activation state is realized through the switch logic to improve the system operation efficiency.

[0091] When D<L, the voltage balance of multiple first batteries is good, the first switch is disconnected, the second switch is closed, and only multiple groups of first batteries are enabled. This technical solution is to avoid the voltage imbalance of multiple groups of first batteries, but the imbalance error between the first batteries in multiple groups is small, and the activation of the second battery is also avoided to reduce energy waste.

[0092] In the specific implementation, the safe duration of the weightless dive state is preset and recorded as T1, and the duration of the aircraft model entering the weightless dive state is recorded as T2. When the relationship is satisfied:

[0093] -90°≤W<-20°;

[0094] 0>A≥-15m / s 2 ;

[0095] When T2≥T1, the propeller speed is limited to the preset minimum speed, which is recorded as V1, and the pitch angle W of the aircraft model begins to increase.

[0096] The preset safety time T1 defines the duration limit of the dive state that the aircraft model can withstand, preventing the aircraft model from being in a weightless state for a long time.

[0097] During subduction, -90°≤W<-20° is an extreme vertical subduction state. 0>A≥-15m / s 2 Make sure that the detected acceleration is negative, which means the aircraft is moving downward, not static or flying horizontally. 2 , indicating that the dive acceleration did not aggravate the serious condition.

[0098] Combining the pitch angle, acceleration and duration of the aircraft model entering a weightless dive state, it can accurately determine whether the aircraft model's dive state has reached a level that requires intervention. This prevents misjudgments, such as short dives or system mis-triggering.

[0099] The propeller speed is limited to the preset minimum speed, which is recorded as V1, to reduce the power support of the aircraft model when it dives downward and reduce the downward speed. By reducing the speed and reducing the power output, the acceleration of the dive is slowed down to avoid loss of control.

[0100] The propeller speed is limited to the minimum speed V1 to ensure that the aircraft model will not completely lose power (maintain minimum control force) and effectively reduce the dive force.

[0101] Actively adjust the attitude of the aircraft model and gradually get rid of the diving state. The increase in pitch angle changes the windward angle of the aircraft model, increases air resistance, and thus further slows down the descent speed.

[0102] The preset minimum speed of model aircraft propellers is usually between 3000 and 5000 RPM for small model aircraft (propeller diameter 6-8 inches). The minimum speed of medium-sized model aircraft (propeller diameter 10-12 inches) is usually between 2000 and 4000 RPM.

[0103] The minimum speed of a large aircraft model (propeller diameter 14-18 inches or more) is usually between 1000-3000 RPM. In this embodiment, the minimum speed of the propeller is preset to: 0 rpm < V1 ≤ 3000 rpm, which is the optimal embodiment for a small aircraft model.

[0104] When the aircraft model is -20°≤W<0°, it is in a slight dive state, indicating that the aircraft model gradually adjusts from the dive attitude to a near-horizontal flight. 0>A≥-15m / s 2This indicates that the aircraft model is still in the deceleration state, but the descent speed has stabilized. At this time, the propeller speed limit can be released. This also means that the aircraft model is about to leave the dive state. After the propeller speed limit is released, the aircraft model can continue to complete the mission flight or return to a safe flight state.

[0105] This specific embodiment also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method.

[0106] This specific implementation also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the processor executes the steps of the method.

[0107] Figure 3 FIG. 1 shows an internal structure diagram of a computer device in an embodiment. The computer device may be a terminal or a server. Figure 3 As shown, the computer device includes a processor, a memory and a network interface connected via a system bus. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor may implement the method described in this embodiment. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor may implement the method described in this embodiment. Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0108] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0109] The above-mentioned embodiments only express several embodiments of the present application, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application.

Claims

1. A power control method for a model aircraft, characterized in that: The battery pack of the aircraft model is formed by connecting multiple groups of first batteries and at least one group of second batteries in series, and the method comprises the steps of: When the aircraft model is flying horizontally, only the first batteries are used. The pitch angle of the aircraft model is collected and recorded as W, and the acceleration of the aircraft model in the vertical direction is collected and recorded as A; When the relationship is satisfied: W<0° and A<0m / s 2 When it is determined that the aircraft model is in a weightless dive state, the plurality of first batteries are kept enabled, and the second batteries connected in series with the first batteries are enabled; When the relationship is satisfied: W<0° and A<-15m / s 2 When the first battery and the second battery are kept enabled, the propeller is stopped from rotating; Adjust the pitch angle of the aircraft model, and when the relationship is satisfied: W ≥ 0°, disable the second battery and keep the first battery enabled, and restart the propeller.

2. The power control method of the model aircraft according to claim 1, characterized in that: A plurality of first batteries are connected in series in sequence, and a second battery is connected in series with a first battery located at either end. The second battery is connected in series with the first switch and in parallel with the second switch; When only the plurality of first battery groups are enabled, the first switch is opened and the second switch is closed; When the plurality of first battery groups are kept enabled and the second battery connected in series with the first battery is enabled, the first switch is closed and the second switch is opened.

3. The power control method of the model aircraft according to claim 2, characterized in that: A plurality of first batteries are connected in series in sequence, and a second battery is connected in series with the first battery at the tail end, and the voltages of the first batteries are sequentially recorded as U1, U2, U3...Un; Calculate the discrete values ​​of the multiple groups of first batteries and record them as D, and determine whether the voltages of the multiple groups of first batteries are balanced, and the discrete values ​​satisfy the relationship: ； ; Wherein, n is the number of groups of the first battery, is the average voltage of all first batteries, is the voltage of the first battery in the i-th group.

4. The power control method of the model aircraft according to claim 3, characterized in that: When the discrete value D is equal to 0, U1 = U2 = U3 . . . = Un, the voltages of the multiple groups of first batteries are completely balanced, the first switch is disconnected, the second switch is closed, and only the multiple groups of first batteries are enabled.

5. The power control method of the model aircraft according to claim 3, characterized in that: A judgment threshold is preset and recorded as L, and the judgment threshold is compared with the discrete value to judge the voltage balancing performance of the first battery; When D<L, the voltage balance of the plurality of first batteries is good, the first switch is disconnected, the second switch is closed, and only the plurality of first batteries are enabled; When D≥L, the voltages of the plurality of first batteries are unbalanced, the first switch is closed, and the second switch is opened, so that the plurality of first battery groups are kept enabled and the second battery connected in series with the first battery is enabled.

6. The power control method of the model aircraft according to claim 1, characterized in that: The safe duration of the weightless dive state is preset and recorded as T1, and the duration of the aircraft model entering the weightless dive state is recorded as T2. When the relationship is satisfied: -90°≤W＜-20°； 0>A≥-15m / s 2 ; When T2≥T1, the propeller speed is limited to the preset minimum speed, which is recorded as V1, and the pitch angle W of the aircraft model begins to increase.

7. The power control method of the model aircraft according to claim 6, characterized in that: The preset minimum speed V1 of the propeller satisfies the relationship: 0 rpm<V1≤3000 rpm.

8. The method for controlling the power of a model aircraft according to claim 6, characterized in that: When the relationship is satisfied: -20°≤W＜0°； 0>A≥-15m / s 2 ; When T2≥T1, the restriction on the propeller speed is released.

9. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the processor is caused to perform the steps of the method according to any one of claims 1 to 8.

10. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method according to any one of claims 1 to 8.

Images