Unmanned aerial vehicle power compensation modeling method, device and equipment based on magnetic field interference

Abstract

The invention provides an unmanned aerial vehicle power compensation modeling method, device and equipment based on magnetic field interference. The method comprises the steps that a three-dimensional geometric model of an unmanned aerial vehicle rotor wing is established; performing grid division on the three-dimensional geometric model through ANSYS Fluent to obtain a rotor geometric model and a fluid domain geometric model; setting an SST k-omega turbulence model of the rotor of the unmanned aerial vehicle; setting a preset condition to obtain an unmanned aerial vehicle simulation model before compensation; determining an influence area, magnetic field intensity and boundary conditions of the magnetic field, and converting the influence of the magnetic field on the unmanned aerial vehicle into unmanned aerial vehicle rotor lift force interference; through transient solution and simulation calculation, determining a non-magnetic field interference power parameter and a magnetic field interference power parameter of unmanned aerial vehicle rotor wing power respectively; and based on the power parameters without magnetic field interference, the power parameters with magnetic field interference and the unmanned aerial vehicle simulation model, the unmanned aerial vehicle rotor wing power system is compensated, and the flight stability and the control performance of the unmanned aerial vehicle in the magnetic field environment are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method, device and equipment for modeling power compensation of unmanned aerial vehicles based on magnetic field interference. Background Art

[0002] Unmanned aerial vehicles (UAVs) have been widely used in modern military, civil and scientific research fields. Their performance and stability are directly related to the success of the mission. As a key component of UAV flight, the design and optimization of UAV rotors has always been an important research direction in UAV engineering. With the advancement of computer technology, computational fluid dynamics (CFD) simulation technology has become an efficient design and analysis tool that can accurately simulate the fluid dynamic characteristics around the rotor, thereby optimizing the rotor design.

[0003] However, existing CFD simulations mainly focus on the study of conventional flow fields and aerodynamic performance, while ignoring the potential impact of magnetic fields on fluid flow. In practical applications, drones may operate in environments containing strong magnetic fields, such as near large power equipment or magnetic field interference areas. In these cases, the magnetic field may have a significant impact on the fluid dynamics performance of the rotor, thereby affecting the flight stability and control accuracy of the drone.

[0004] Therefore, how to perform power compensation for UAVs under magnetic field interference has become a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] The present invention provides a method, device and equipment for modeling power compensation of unmanned aerial vehicles based on magnetic field interference, so as to solve the defect that the prior art cannot perform power compensation on unmanned aerial vehicles under magnetic field interference.

[0006] In a first aspect, the present invention provides a method for modeling a power compensation of an unmanned aerial vehicle based on magnetic field interference, comprising: Create a 3D geometric model of the drone rotor; Based on the meshes around the rotor and in the flow field action area, the three-dimensional geometric model is meshed by ANSYS Fluent to obtain a rotor geometric model and a fluid domain geometric model; Setting the SST k-ω turbulence model of the UAV rotor; Setting preset conditions of the rotor geometry model, the fluid domain geometry model, and the turbulence model to obtain a UAV simulation model before compensation; Determine the influence area, magnetic field strength and boundary conditions of the magnetic field, and convert the influence of the influence area, magnetic field strength and boundary conditions on the UAV into interference with the lift of the UAV rotor; Through transient solution and simulation calculation of the UAV simulation model, the power parameters of the UAV rotor power without magnetic field interference and the power parameters with magnetic field interference are determined respectively; Based on the power parameters without magnetic field interference, the power parameters with magnetic field interference and the UAV simulation model, the UAV rotor power system is compensated.

[0007] According to a UAV power compensation modeling method based on magnetic field interference provided by the present invention, the three-dimensional geometric model is meshed based on the meshes around the rotor and the flow field action area through ANSYS Fluent to obtain a rotor geometric model and a fluid domain geometric model, including: Establishing a rotation domain and a far-field boundary external flow field around the rotor of the three-dimensional geometric model; Based on the rotating domain and the external flow field, the three-dimensional geometric model is meshed, and the rotor surface and key flow field areas are meshed and refined to obtain a rotor geometric model and a fluid domain geometric model.

[0008] According to a UAV power compensation modeling method based on magnetic field interference provided by the present invention, the turbulent kinetic energy and turbulent dissipation rate in the SST k-ω turbulence model are expressed as:

[0009]

[0010] in, represents the turbulent kinetic energy, Denotes the turbulent dissipation rate: represents the generation term of turbulent kinetic energy; and represents the dissipative term; and represents a constant coefficient; and express , The diffusion term of represents the cross-diffusion term; , represents the transient term, , represents the convection term.

[0011] According to a UAV power compensation modeling method based on magnetic field interference provided by the present invention, the preset conditions for setting the rotor geometry model, the fluid domain geometry model and the turbulence model include: Set the inlet and outlet conditions of the fluid domain and the wall conditions of the rotor surface, and set the air fluid properties; The inlet conditions include flow rate and pressure, and the air fluid properties include density and viscosity.

[0012] According to a method for modeling UAV power compensation based on magnetic field interference provided by the present invention, the method of determining the influence area and magnetic field strength of the magnetic field includes:

[0013]

[0014]

[0015]

[0016]

[0017] in, Indicates the electric field strength; Indicates the magnetic induction intensity; H Indicates the magnetic field strength; D represents the electric displacement vector; represents the current density; represents the charge density; in, D and E , B and H , and E Satisfaction relationship:

[0018]

[0019]

[0020] in, , , They represent the electrical conductivity, magnetic permeability and dielectric constant of the medium respectively.

[0021] According to a UAV power compensation modeling method based on magnetic field interference provided by the present invention, the boundary conditions of the magnetic field are determined, including:

[0022]

[0023] in, The unit vector representing the normal direction of the interface, pointing from the second medium to the first medium; represents the conduction current density on the interface, Indicates the magnetic induction intensity corresponding to the first medium; Indicates the magnetic induction intensity corresponding to the second medium; represents the magnetic field strength corresponding to the first medium; Indicates the magnetic field strength corresponding to the second medium.

[0024] According to a UAV power compensation modeling method based on magnetic field interference provided by the present invention, the influence of the influence area, the magnetic field strength and the boundary conditions on the UAV is converted into the lift interference on the UAV rotor, including: The force generated by the influence of the influence area, the magnetic field strength and the boundary conditions on the UAV is expressed by the Lorentz force of the interaction between the magnetic field and the current as:

[0025] in, represents the Lorentz force; A vector representing the current in the motor; Represents the magnetic induction intensity vector of the external magnetic field; The Lorentz force is converted into lift disturbance to the UAV rotor, including torque change and rotation speed change.

[0026] According to a UAV power compensation modeling method based on magnetic field interference provided by the present invention, the UAV rotor power system is compensated based on the power parameters without magnetic field interference, the power parameters with magnetic field interference and the UAV simulation model, including: Determine the velocity cloud map and the trajectory map under the condition of the power parameters without magnetic field interference, and the velocity cloud map and the trajectory map under the power parameters with magnetic field interference, through the UAV simulation model; Recording the upper rotor lift data and the lower rotor lift data of the UAV simulation model during the simulation process with and without the magnetic field interference; Based on the speed cloud map and trajectory map under the power parameter conditions without magnetic field interference, the speed cloud map and trajectory map under the power parameter conditions with magnetic field interference, the upper rotor lift data and the lower rotor lift data, the diameter and rotation speed of the UAV rotor are changed to compensate for the power loss under magnetic field interference.

[0027] In a second aspect, the present invention provides a UAV power compensation modeling device based on magnetic field interference, comprising: Creation module, used to create a 3D geometric model of the UAV rotor; A partitioning module is used to partition the three-dimensional geometric model by meshing the mesh around the rotor and the flow field action area through ANSYS Fluent to obtain a rotor geometric model and a fluid domain geometric model; A setting module is used to set the SST k-ω turbulence model of the UAV rotor; set the preset conditions of the rotor geometry model, the fluid domain geometry model and the turbulence model to obtain a UAV simulation model before compensation; A determination module, used to determine the influence area, magnetic field strength and boundary conditions of the magnetic field, and convert the influence of the influence area, magnetic field strength and boundary conditions on the drone into interference with the lift of the drone rotor; The compensation module is used to determine the power parameters without magnetic field interference and the power parameters with magnetic field interference of the UAV rotor power through transient solution and simulation calculation of the UAV simulation model; based on the power parameters without magnetic field interference, the power parameters with magnetic field interference and the UAV simulation model, the UAV rotor power system is compensated.

[0028] In a third aspect, the present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for modeling a power compensation for a UAV based on magnetic field interference as described above is implemented.

[0029] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described methods for modeling UAV power compensation based on magnetic field interference.

[0030] In a fifth aspect, the present invention also provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-mentioned methods for modeling UAV power compensation based on magnetic field interference.

[0031] The present invention provides a method, device and equipment for modeling power compensation of unmanned aerial vehicles based on magnetic field interference, comprising creating a three-dimensional geometric model of a rotor of the unmanned aerial vehicle; meshing the three-dimensional geometric model through ANSYS Fluent based on the meshes around the rotor and the flow field action area to obtain a rotor geometric model and a fluid domain geometric model; setting an SST k-ω turbulence model of the rotor of the unmanned aerial vehicle; setting preset conditions of the rotor geometric model, the fluid domain geometric model and the turbulence model to obtain a simulation model of the unmanned aerial vehicle before compensation; determining the influence area, magnetic field intensity and boundary conditions of the magnetic field, and converting the influence of the influence area, magnetic field intensity and boundary conditions on the unmanned aerial vehicle into lift interference on the rotor of the unmanned aerial vehicle; determining the power parameters of the unmanned aerial vehicle rotor power without magnetic field interference and the power parameters with magnetic field interference respectively through transient solution and simulation calculation of the unmanned aerial vehicle simulation model; based on the power parameters without magnetic field interference, the power parameters with magnetic field interference and the unmanned aerial vehicle simulation model, compensating the rotor power system of the unmanned aerial vehicle, and adding the magnetic field interference to the unmanned aerial vehicle simulation model for power compensation, the flight stability and control performance of the unmanned aerial vehicle in a magnetic field environment can be effectively improved, the risk of accidents can be reduced, and the flight safety can be enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 is a flow chart of a method for modeling a UAV power compensation based on magnetic field interference provided in this embodiment; Figure 2 is a schematic diagram of grid division provided in this embodiment; Figure 3 is a schematic diagram of the lift change of the upper rotor under the magnetic field interference provided by this embodiment; Figure 4 is a schematic diagram of the lift change of the lower rotor under the magnetic field interference provided by this embodiment; Figure 5 This is a longitudinal induced velocity cloud diagram before adding magnetic field interference provided in this embodiment; Figure 6 This is a longitudinal induced velocity cloud diagram after adding magnetic field interference provided in this embodiment; Figure 7 This is a longitudinal trace diagram of the rotor after adding magnetic field interference provided by this embodiment; Figure 8 This is the rotor axial trace diagram after adding magnetic field interference provided by this embodiment; Fig. 9is a structural schematic diagram of a UAV power compensation modeling device based on magnetic field interference provided in this embodiment; Fig.10 It is a schematic diagram of the structure of the electronic device provided in this embodiment. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Figure 1 It is a flow chart of the UAV power compensation modeling method based on magnetic field interference provided in this embodiment.

[0036] like Figure 1 As shown, the UAV power compensation modeling method based on magnetic field interference provided by the embodiment of the present invention mainly includes the following steps: 101. Create a 3D geometric model of the UAV rotor.

[0037] In a specific implementation process, SolidWorks modeling software can be used to create a geometric model of the UAV rotor in a three-dimensional space and define the model size, as shown in Table 1.

[0038]

[0039] Table 1 Basic parameters of Naca0012 rotor By defining the model size, the actual application requirements can be effectively matched, and then the 3D geometric model is preprocessed to ensure the integrity and accuracy of the model details.

[0040] 102. Based on the meshes around the rotor and the flow field area, the three-dimensional geometric model is meshed through ANSYS Fluent to obtain the rotor geometric model and fluid domain geometric model.

[0041] A rotating domain is established around the rotor of the three-dimensional geometric model, and then a larger far-field boundary external flow field is established. The three-dimensional geometric model is meshed, with a focus on the area around the rotor and the flow field action area, ensuring the fineness and rationality of the mesh around the rotor and the flow field action area to improve the simulation accuracy. Then, based on the rotating domain and the external flow field, the three-dimensional geometric model is meshed, and the mesh is refined on the rotor surface and key flow field areas, the mesh quality is checked and improved, and the rotor geometry model and fluid domain geometry model are obtained. Figure 2 The figure shows a schematic diagram of grid division.

[0042] 103. Set up the SST k-ω turbulence model for the UAV rotor.

[0043] The SST k-ω turbulence model is set up to provide reliable results in a wide range from low to high Reynolds numbers to accommodate different types of flow conditions.

[0044] The turbulent kinetic energy and turbulent dissipation rate in the SST k-ω turbulence model are expressed as formulas (1) and (2): (1) (2) in, represents the turbulent kinetic energy, Denotes the turbulent dissipation rate: represents the generation term of turbulent kinetic energy; and represents the dissipative term; and represents a constant coefficient; and express , The diffusion term of represents the cross-diffusion term; , represents the transient term, , represents the convection term.

[0045] 104. Set the preset conditions of the rotor geometry model, fluid domain geometry model and turbulence model to obtain the UAV simulation model before compensation.

[0046] After obtaining the rotor geometry model, fluid domain geometry model, and turbulence model, it is necessary to establish a connection between the three. By setting conditions, the three can be connected to obtain the UAV simulation model before compensation. Setting the preset conditions mainly includes: setting the inlet conditions, outlet conditions, and wall conditions of the fluid domain, and setting the air fluid properties; the inlet conditions include flow rate and pressure, and the air fluid properties include density and viscosity.

[0047] 105. Determine the influence area, magnetic field strength and boundary conditions of the magnetic field, and convert the influence of the influence area, magnetic field strength and boundary conditions on the UAV into interference with the lift of the UAV rotor.

[0048] Taking into account the influence area and magnetic field strength of the magnetic field on the UAV power, it is necessary to calculate the parameters of the magnetic field, the influence area of ​​the magnetic field, the magnetic field strength and the magnetic field boundary conditions, and convert the influence of the magnetic field on the UAV motor into interference with the lift of the UAV rotor, so as to accurately determine the influence of the magnetic field on the UAV power through force analysis, and through force analysis, it is also easier to compensate for the UAV power.

[0049] First, define the relevant parameters of the external magnetic field, determine the influence area and magnetic field strength of the magnetic field, and describe the distribution of the magnetic field by the Maxwell equations, such as formulas (3)-(7): (3) (4) (5) (6) (7) in, Indicates the electric field strength; Indicates the magnetic induction intensity; H Indicates the magnetic field strength; D represents the electric displacement vector; represents the current density; represents the charge density; in, D and E , B and H , and E Satisfy the relationship, such as formulas (8), (9) and (10): (8) (9) (10) in, , , They represent the electrical conductivity, magnetic permeability and dielectric constant of the medium respectively.

[0050] Secondly, consider the electromagnetic field boundary conditions. The electromagnetic field boundary conditions mainly refer to the conditions that need to be met when a vector passes through the boundary of two different media. They are obtained by taking the limit of the integral form of the Maxwell equations. Therefore, the mathematical expression for determining the boundary conditions of the magnetic field is formula (11) and formula (12): (11) (12) in, The unit vector representing the normal direction of the interface, pointing from the second medium to the first medium; represents the conduction current density on the interface, Indicates the magnetic induction intensity corresponding to the first medium; Indicates the magnetic induction intensity corresponding to the second medium; represents the magnetic field strength corresponding to the first medium; Indicates the magnetic field strength corresponding to the second medium.

[0051] Finally, the force generated by the influence of the impact area, magnetic field strength and boundary conditions on the drone is expressed by the Lorentz force of the interaction between the magnetic field and the current, which is formula (13): (13) in, represents the Lorentz force; A vector representing the current in the motor; Represents the magnetic induction intensity vector of the external magnetic field.

[0052] The influence of the magnetic field on the UAV motor is then converted into interference with the lift of the UAV rotor, that is, the Lorentz force is converted into interference with the lift of the UAV rotor, including torque changes and speed changes, so as to evaluate the influence of the magnetic field on the lift of the UAV, and adjust the rotor design and speed as needed to reduce the negative impact of magnetic field interference.

[0053] 106. Through transient solution and simulation calculation of the UAV simulation model, the dynamic parameters of the UAV rotor power without magnetic field interference and with magnetic field interference are determined respectively.

[0054] After determining the magnetic field interference, parameter monitoring is defined, and the rotor power parameters of the UAV with and without magnetic field interference are determined through monitoring.

[0055] Specifically, define the monitoring parameters including the upper rotor lift and the lower rotor lift, initialize the entire rotor system and the fluid domain, start the calculation, and switch to transient calculation after the parameter monitoring steady-state value tends to be stable. Calculate and set the time step according to the flow field size of the rotating domain to ensure the accuracy of the calculation results; then run the simulation calculation until the monitoring value tends to be stable, and obtain the UAV power parameters, including the UAV rotor power parameters with magnetic field interference and the UAV rotor power parameters without magnetic field interference. Figure 3 As shown, it is a schematic diagram of the lift change of the upper rotor under magnetic field interference. Figure 4 This is a schematic diagram of the lift change of the lower rotor under magnetic field interference. Figure 3 and Figure 4 The impact of magnetic field interference on UAV power can be clearly seen.

[0056] 107. The rotor power system of the UAV is compensated based on the power parameters without magnetic field interference, the power parameters with magnetic field interference and the UAV simulation model.

[0057] Through simulation analysis and calculation after adding magnetic field interference, the changes in power parameters before and after the magnetic field interference can be effectively obtained. Therefore, based on the changes in power parameters, the rotor radius or speed can be increased to compensate for the power lost under magnetic interference, and the performance of the compensated results can be evaluated, and then the power compensation parameters can be fed back to ensure that the impact of magnetic field interference on the UAV power can be effectively balanced.

[0058] Specifically, through the UAV simulation model, the speed cloud map and trajectory diagram under the condition of power parameters without magnetic field interference, as well as the speed cloud map and trajectory diagram under the condition of power parameters with magnetic field interference, are determined to determine the parameter changes before and after the magnetic field interference is added. Then the upper rotor lift data and the lower rotor lift data of the UAV simulation model in the simulation process with and without magnetic field interference are recorded to provide a basis for further optimization of the design. Based on the speed cloud map and trajectory diagram under the condition of power parameters without magnetic field interference, the speed cloud map and trajectory diagram under the condition of power parameters with magnetic field interference, the upper rotor lift data and the lower rotor lift data, the diameter and rotation speed of the UAV rotor are changed to compensate for the power loss under the magnetic field interference, thereby improving the fluid simulation results and the total power of the UAV. Figure 5 This is the longitudinal induced velocity cloud diagram before adding magnetic field interference. Figure 6 This is the longitudinal induced velocity cloud diagram after adding magnetic field interference. Figure 7 This is the longitudinal trace diagram of the rotor after adding magnetic field interference. Figure 8 This is the rotor axial trace diagram after adding magnetic field interference. Figure 5-Figure 8 The effect of magnetic field interference on the drone rotor can be clearly seen.

[0059] The UAV power compensation modeling method based on magnetic field interference of this embodiment can effectively improve the flight stability and control performance of the UAV in a magnetic field environment, reduce the risk of accidents, and thus enhance flight safety by establishing a power compensation model for magnetic field interference. The UAV power compensation modeling method based on magnetic field interference can provide an important reference for the design optimization of flight control systems, enabling them to better cope with magnetic field interference, improve their ability to resist external environmental interference, and thus improve the flight performance of UAVs. The CFD simulation method can reduce the reliance on expensive physical experiments, save a lot of experimental costs and time, while avoiding possible safety risks in experiments and accelerating the development and optimization process of power compensation models.

[0060] Based on the same general inventive concept, the present invention also protects a UAV power compensation modeling device based on magnetic field interference. The UAV power compensation modeling device based on magnetic field interference provided by the present invention is described below. The UAV power compensation modeling device based on magnetic field interference described below and the UAV power compensation modeling method based on magnetic field interference described above can be referenced to each other.

[0061] Fig. 9 It is a structural schematic diagram of the UAV power compensation modeling device based on magnetic field interference provided in this embodiment.

[0062] like Fig. 9 As shown, this embodiment provides a UAV power compensation modeling device based on magnetic field interference, including: A creation module 901 is used to create a three-dimensional geometric model of the UAV rotor; A partitioning module 902 is used to partition the three-dimensional geometric model by meshing the meshes around the rotor and in the flow field action area through ANSYS Fluent to obtain a rotor geometric model and a fluid domain geometric model; The setting module 903 is used to set the SST k-ω turbulence model of the UAV rotor; set the preset conditions of the rotor geometry model, the fluid domain geometry model and the turbulence model to obtain the UAV simulation model before compensation; The determination module 904 is used to determine the influence area, magnetic field strength and boundary conditions of the magnetic field, and convert the influence of the influence area, magnetic field strength and boundary conditions on the UAV into interference with the lift of the UAV rotor; The compensation module 905 is used to determine the power parameters without magnetic field interference and the power parameters with magnetic field interference of the UAV rotor power through transient solution and simulation calculation of the UAV simulation model; based on the power parameters without magnetic field interference, the power parameters with magnetic field interference and the UAV simulation model, the UAV rotor power system is compensated.

[0063] Fig.10 It is a schematic diagram of the structure of the electronic device provided in this embodiment.

[0064] like Fig.10As shown, the electronic device may include: a processor (processor) 1010, a communication interface (Communications Interface) 1020, a memory (memory) 1030 and a communication bus 1040, wherein the processor 1010, the communication interface 1020, and the memory 1030 communicate with each other through the communication bus 1040. The processor 1010 can call the logic instructions in the memory 1030 to execute the UAV power compensation modeling method based on magnetic field interference, which includes: creating a three-dimensional geometric model of the UAV rotor; based on the grids around the rotor and the flow field action area, meshing the three-dimensional geometric model through ANSYS Fluent to obtain a rotor geometric model and a fluid domain geometric model; setting the SST k-ω turbulence model of the UAV rotor; setting the preset conditions of the rotor geometric model, the fluid domain geometric model and the turbulence model to obtain a UAV simulation model before compensation; determining the influence area, magnetic field intensity and boundary conditions of the magnetic field, and converting the influence of the influence area, the magnetic field intensity and the boundary conditions on the UAV into lift interference on the UAV rotor; determining the power parameters without magnetic field interference and the power parameters with magnetic field interference of the UAV rotor power through transient solution and simulation calculation of the UAV simulation model; based on the power parameters without magnetic field interference, the power parameters with magnetic field interference and the UAV simulation model, compensating the UAV rotor power system.

[0065] In addition, the logic instructions in the above-mentioned memory 1030 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0066] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the UAV power compensation modeling method based on magnetic field interference provided by the above methods, the method including: creating a three-dimensional geometric model of the UAV rotor; based on the grids around the rotor and the flow field action area, meshing the three-dimensional geometric model through ANSYS Fluent to obtain a rotor geometric model and a fluid domain geometric model; setting the SST k-ω turbulence model of the UAV rotor; setting preset conditions for the rotor geometric model, the fluid domain geometric model and the turbulence model to obtain a UAV simulation model before compensation; determining the influence area, magnetic field intensity and boundary conditions of the magnetic field, and converting the influence of the influence area, the magnetic field intensity and the boundary conditions on the UAV into lift interference on the UAV rotor; through transient solution and simulation calculation of the UAV simulation model, respectively determining the power parameters without magnetic field interference and the power parameters with magnetic field interference of the UAV rotor power; based on the power parameters without magnetic field interference, the power parameters with magnetic field interference and the UAV simulation model, compensating the UAV rotor power system.

[0067] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the processor executes the UAV power compensation modeling method based on magnetic field interference provided by the above methods, the method comprising: creating a three-dimensional geometric model of the UAV rotor; based on the grids around the rotor and the flow field action area, meshing the three-dimensional geometric model through ANSYS Fluent to obtain a rotor geometric model and a fluid domain geometric model; setting an SST k-ω turbulence model of the UAV rotor; setting preset conditions for the rotor geometric model, the fluid domain geometric model and the turbulence model to obtain a UAV simulation model before compensation; determining the influence area, magnetic field strength and boundary conditions of the magnetic field, and converting the influence of the influence area, the magnetic field strength and the boundary conditions on the UAV into lift interference on the UAV rotor; determining the power parameters without magnetic field interference and the power parameters with magnetic field interference of the UAV rotor power through transient solution and simulation calculation of the UAV simulation model; and compensating the UAV rotor power system based on the power parameters without magnetic field interference, the power parameters with magnetic field interference and the UAV simulation model.

[0068] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0069] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0070] Finally, 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A UAV power compensation modeling method based on magnetic field interference, characterized in that: include: Create a 3D geometric model of the drone rotor; Based on the meshes around the rotor and in the flow field action area, the three-dimensional geometric model is meshed by ANSYS Fluent to obtain a rotor geometric model and a fluid domain geometric model; Setting the SST k-ω turbulence model of the UAV rotor; Setting preset conditions of the rotor geometry model, the fluid domain geometry model, and the turbulence model to obtain a UAV simulation model before compensation; Determine the influence area, magnetic field strength and boundary conditions of the magnetic field, and convert the influence of the influence area, magnetic field strength and boundary conditions on the UAV into interference with the lift of the UAV rotor; Through transient solution and simulation calculation of the UAV simulation model, the power parameters of the UAV rotor power without magnetic field interference and the power parameters with magnetic field interference are determined respectively; Based on the power parameters without magnetic field interference, the power parameters with magnetic field interference and the UAV simulation model, the UAV rotor power system is compensated.

2. The method for modeling UAV power compensation based on magnetic field interference according to claim 1 is characterized in that: Based on the meshes around the rotor and in the flow field action area, the three-dimensional geometric model is meshed by ANSYS Fluent to obtain a rotor geometric model and a fluid domain geometric model, including: Establishing a rotation domain and a far-field boundary external flow field around the rotor of the three-dimensional geometric model; Based on the rotating domain and the external flow field, the three-dimensional geometric model is meshed, and the rotor surface and key flow field areas are meshed and refined to obtain a rotor geometric model and a fluid domain geometric model.

3. The UAV power compensation modeling method based on magnetic field interference according to claim 1 is characterized in that: The turbulent kinetic energy and turbulent dissipation rate in the SST k-ω turbulence model are expressed as: in, represents the turbulent kinetic energy, Denotes the turbulent dissipation rate: represents the generation term of turbulent kinetic energy; and represents the dissipative term; and represents a constant coefficient; and express , The diffusion term of represents the cross-diffusion term; , represents the transient term, , represents the convection term.

4. The UAV power compensation modeling method based on magnetic field interference according to claim 1 is characterized in that: The preset conditions for setting the rotor geometric model, the fluid domain geometric model and the turbulence model include: Set the inlet and outlet conditions of the fluid domain and the wall conditions of the rotor surface, and set the air fluid properties; The inlet conditions include flow rate and pressure, and the air fluid properties include density and viscosity.

5. The UAV power compensation modeling method based on magnetic field interference according to claim 1 is characterized in that: The determining of the influence area and magnetic field strength of the magnetic field includes: in, Indicates the electric field strength; Indicates the magnetic induction intensity; H Indicates the magnetic field strength; D represents the electric displacement vector; represents the current density; represents the charge density; in, D and E , B and H , and E Satisfaction relationship: in, , , They represent the electrical conductivity, magnetic permeability and dielectric constant of the medium respectively.

6. The method for modeling a UAV power compensation based on magnetic field interference according to claim 5 is characterized in that: The boundary conditions for determining the magnetic field include: in, The unit vector representing the normal direction of the interface, pointing from the second medium to the first medium; represents the conduction current density on the interface, Indicates the magnetic induction intensity corresponding to the first medium; Indicates the magnetic induction intensity corresponding to the second medium; represents the magnetic field strength corresponding to the first medium; Indicates the magnetic field strength corresponding to the second medium.

7. The method for modeling UAV power compensation based on magnetic field interference according to claim 6 is characterized in that: The step of converting the influence of the influence area, the magnetic field strength and the boundary conditions on the UAV into interference with the lift of the UAV rotor includes: The force generated by the influence of the influence area, the magnetic field strength and the boundary conditions on the UAV is expressed by the Lorentz force of the interaction between the magnetic field and the current as: in, represents the Lorentz force; A vector representing the current in the motor; Represents the magnetic induction intensity vector of the external magnetic field; The Lorentz force is converted into lift disturbance to the UAV rotor, including torque change and rotation speed change.

8. The method for modeling UAV power compensation based on magnetic field interference according to claim 1 is characterized in that: The compensating the UAV rotor power system based on the power parameter without magnetic field interference, the power parameter with magnetic field interference and the UAV simulation model includes: Determine the velocity cloud map and the trajectory map under the condition of the power parameters without magnetic field interference, and the velocity cloud map and the trajectory map under the power parameters with magnetic field interference, through the UAV simulation model; Recording the upper rotor lift data and the lower rotor lift data of the UAV simulation model during the simulation process with and without the magnetic field interference; Based on the speed cloud map and trajectory map under the power parameter conditions without magnetic field interference, the speed cloud map and trajectory map under the power parameter conditions with magnetic field interference, the upper rotor lift data and the lower rotor lift data, the diameter and rotation speed of the UAV rotor are changed to compensate for the power loss under magnetic field interference.

9. A UAV power compensation modeling device based on magnetic field interference, characterized in that: include: Creation module, used to create a 3D geometric model of the UAV rotor; A partitioning module is used to partition the three-dimensional geometric model by meshing the mesh around the rotor and the flow field action area through ANSYS Fluent to obtain a rotor geometric model and a fluid domain geometric model; A setting module is used to set the SST k-ω turbulence model of the UAV rotor; set the preset conditions of the rotor geometry model, the fluid domain geometry model and the turbulence model to obtain a UAV simulation model before compensation; A determination module, used to determine the influence area, magnetic field strength and boundary conditions of the magnetic field, and convert the influence of the influence area, magnetic field strength and boundary conditions on the drone into interference with the lift of the drone rotor; The compensation module is used to determine the power parameters without magnetic field interference and the power parameters with magnetic field interference of the UAV rotor power through transient solution and simulation calculation of the UAV simulation model; based on the power parameters without magnetic field interference, the power parameters with magnetic field interference and the UAV simulation model, the UAV rotor power system is compensated.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the UAV power compensation modeling method based on magnetic field interference as described in any one of claims 1 to 8 is implemented.

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