Multi-rotor unmanned aerial vehicle FCS circuit system and power management method thereof

Abstract

The invention relates to a circuit system of a multi-rotor unmanned aerial vehicle FCS and a power management method thereof, and relates to the field of fuel cells and unmanned aerial vehicles. According to the circuit system of the multi-rotor unmanned aerial vehicle FCS and the power management method of the circuit system, the problem of matching of a multi-voltage platform circuit system architecture when a hydrogen fuel cell system and the unmanned aerial vehicle are integrated is solved, and a more reasonable power management control method is provided to realize safe, accurate and efficient control of the system. Specifically, a part power supply mode of a multi-voltage platform is provided, the power supply voltage is stable, and model selection and platform design of system parts are facilitated; the power supply of the parts of the multi-voltage platform can be independently controlled, and the control can be completed by selecting the buck-boost power supply management module or the controller FCU, so that the power supply management of the parts is facilitated; the voltage platforms are powered on step by step and self-checked step by step, the fault probability is reduced, the service life of parts is prolonged, and the range of possible reasons of faults can be further narrowed conveniently through step-by-step power-on.

Description

Technical Field

[0001] The present invention relates to the technical field of fuel cells and unmanned aerial vehicles, and in particular to a circuit system of a multi-rotor unmanned aerial vehicle FCS and a power management method thereof. Background Art

[0002] With the development of clean energy technology, hydrogen fuel cell systems have been widely used as power sources in many industries (e.g., electric vehicles, drone systems). In hydrogen fuel cell systems, electricity is generated by the reaction of hydrogen and oxygen in the air in the battery stack, and is delivered to various loads or high-voltage battery packs after being boosted by the boost DC / DC module, achieving truly "zero emission, pollution-free" green travel. Hydrogen fuel cell vehicles have many advantages, such as high energy conversion efficiency (up to 60%~80%), fast and convenient hydrogen refueling, and when used as a battery power generation system, it greatly improves the cruising range, and is one of the main development directions of future new energy clean power systems.

[0003] In order to continuously provide the hydrogen and oxygen required for the stack to generate electricity, the hydrogen fuel cell system requires a large number of components or systems, generally including a hydrogen storage system (storing hydrogen and providing high-pressure hydrogen to the stack), a blower (compressing air and providing oxygen), a hydrogen circulation pump (circulating hydrogen in the stack to increase), a cooling water pump (cooling the heat generated by the operation of the stack), sensors (temperature, pressure, flow sensors, monitoring), a controller (FCU) that controls the hydrogen fuel cell system, and a DC converter (DC / DC) that transmits the energy of the stack to the upper application system. Among the above components, there are generally several levels of operating voltage: among them, controllers, sensors, etc. generally require a low-voltage power supply platform (such as 12V or 24V), while blowers, circulation pumps, water pumps, etc. generally require a higher voltage platform (such as 36 to 400V, or even higher). Therefore, different voltage platforms require more complex circuit system architectures and their control methods to achieve more efficient, safer, and more reasonable power management.

[0004] In the existing technology, hydrogen fuel cell systems are mostly used in pure electric vehicles, and there are few cases of using them in drone systems. In addition, drone systems do not have a complex circuit system architecture, and their power management methods are all achieved by plugging and unplugging batteries (usually lithium batteries). The following is a schematic diagram of a common circuit system architecture: Figure 1As shown in the figure, the key components of the hydrogen fuel cell system include the stack, buck-boost DC / DC, blower, circulation pump, water pump, controller (FCU), etc., and the UAV system includes the energy distribution unit (PDU), lithium battery, motor, etc. In terms of matching the circuit system architecture, all components of the hydrogen fuel cell system are directly connected to the UAV, and the lithium battery provides power for all components of the system. In the power management method of this scheme, since the components are directly connected to the positive and negative poles of the lithium battery; therefore, after the lithium battery is assembled, the hydrogen fuel cell system is directly controlled by the buck-boost DC / DC power management module to directly power on the system high voltage, supplying high voltage electricity to the blower, circulation pump and water pump, etc., and activating the 24V DC converter (24V buck DC / DC) at the same time, providing a stable 24V voltage for the low-voltage components of the hydrogen fuel cell system. When the high and low voltage of the system are successfully powered on and there is no fault in the self-test, the hydrogen fuel cell system is powered on and enters the standby state, waiting for the start command issued by the UAV. When the hydrogen fuel cell system is shut down, it is usually achieved by the drone sending a shutdown request or directly unplugging the lithium battery. Before the lithium battery is unplugged, the system is always in a state where both high and low voltages are powered on.

[0005] However, the above prior art has the following defects: (1) There are many components in the hydrogen fuel cell system, and there are many voltage platforms. The controller power supply is generally low voltage, such as 24V or 12V; the air compressor and other components are high voltage, such as 36~400V, or even higher; if the UAV lithium battery needs to be selected with a different capacity or voltage range due to reasons such as battery life, size, weight, etc., it will affect the electrical performance of the existing components of the hydrogen fuel cell system, and even require redevelopment to adapt to the voltage of the lithium battery.

[0006] (2) For UAV systems or UAV systems equipped with hydrogen fuel cell systems, power is generally connected and disconnected by plugging and unplugging lithium batteries. Arcing and large pulse currents are easily generated at the moment of plugging and unplugging, which can easily damage the internal electrical components of the parts, shorten the life of the parts, and pose safety risks.

[0007] (3) For UAV systems or UAV systems equipped with hydrogen fuel cell systems, the power supply of different voltage platforms cannot be independently powered on and off. In addition, if the low-voltage power supply of the controller of motor components is lost, but the three-phase high-voltage power supply of the motor still exists, there is a risk of disorder in the three-phase power control of the motor, short circuit, and burning of internal components.

[0008] (4) Hydrogen fuel cells have many components and are large in size. Different motor controllers, such as blower controllers, circulation pump controllers, and water pump controllers, have many hardware modules with similar functions, which are over-designed, resulting in low integration and high cost. In addition, there are many wiring harnesses and connectors when connecting components, which increases the cost and the probability of failure and electrical safety risks. Summary of the invention

[0009] The purpose of the present invention is to provide a circuit system of a multi-rotor UAV FCS and a power management method thereof to solve the problems existing in the above-mentioned prior art.

[0010] To achieve the above object, the technical solution adopted by the present invention is: In a first aspect, the present invention provides a circuit system of a multi-rotor UAV FCS, including a buck-boost power management module for transmitting electric energy generated by a battery stack to the UAV system, wherein the buck-boost power management module includes: A buck-boost module, a first end of which is connected to the battery stack, and a second end of which is connected to the energy distribution unit of the drone system; A 48V DC converter connected in parallel to the energy distribution unit of the drone system, which is used to power at least the blower, the circulation pump and the water pump; and A 24V DC converter, which is connected in parallel to the energy distribution unit of the drone system and is used to at least supply power to the cooling fan and the controller FCU; Wherein, the buck-boost power supply management module is embedded with a control board.

[0011] In a possible implementation, the 48V DC converter is connected in parallel to the energy distribution unit of the drone system through a high-voltage pre-charging circuit.

[0012] In a possible implementation, the 48V DC converter supplies power to the blower, the circulation pump and the water pump through a three-in-one controller.

[0013] In a possible implementation, the 24V DC converter is connected in parallel to the energy distribution unit of the drone system via a low-voltage pre-charging circuit.

[0014] In a second aspect, the present invention provides a power management method for a circuit system of a multi-rotor UAV FCS, the method being applied to the circuit system of the multi-rotor UAV FCS as described above, the method comprising: FCS is powered on normally: Triggered by the lithium battery assembly action of the drone system, the output side high voltage of the buck-boost power management module is powered on to power on the embedded control board, so as to complete the power-on process of the buck-boost power management module; In response to the buck-boost power management module being powered on and self-checking without any fault, the built-in control board controls the low-voltage pre-charging circuit on the input side of the 24V DC converter to perform pre-charging; In response to the completion of 24V pre-charging, the controller FCU and the low-voltage components in the FCS are all powered on successfully at low voltage, and all low-voltage components in the FCS perform self-checks. If no faults are found, the controller FCU controls the high-voltage pre-charging circuit on the input side of the 48V DC converter to perform pre-charging; In response to the completion of 48V pre-charging and self-checking without any faults, the high and low voltages of the FCS are powered on and enter a standby state, waiting for the start-up instruction of the drone system. If a safety fault occurs during the power-on process of the FCS, the FCS reports the fault to the drone system and prohibits starting.

[0015] In a possible implementation, the method further includes: FCS is powered off normally: In response to the controller FCU determining that the FCS needs to be shut down, the controller FCU controls each subsystem in the FCS to enter a normal shutdown process. At the end of the FCS shutdown process, the buck-boost power management module performs wave blocking to interrupt the power transmission path from the battery stack to the lithium battery.

[0016] Furthermore, after the buck-boost power management module performs wave blocking, the controller FCU controls the main relay of the high-voltage pre-charging circuit on the input side of the 48V DC converter to disconnect after a delay of a preset time period; wherein, the main relay of the low-voltage pre-charging circuit on the input side of the 24V DC converter does not need to be disconnected until it is automatically disconnected after the lithium battery is removed.

[0017] In a possible implementation, the method further includes: FCS emergency shutdown power off: In response to the controller FCU determining that the FCS needs emergency shutdown, the first moment the controller FCU determines that an emergency stop is required, the controller FCU controls all components in the FCS to stop working immediately. At the end of the FCS shutdown process, the buck-boost power management module performs wave sealing to interrupt the power transmission path from the battery stack to the lithium battery.

[0018] Furthermore, after the buck-boost power management module performs wave blocking, the controller FCU controls the main relay of the high-voltage pre-charging circuit on the input side of the 48V DC converter to disconnect after a delay of a preset time period; wherein, the main relay of the low-voltage pre-charging circuit on the input side of the 24V DC converter does not need to be disconnected until it is automatically disconnected after the lithium battery is removed.

[0019] In a third aspect, the present invention provides a computer device, comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the processor can load and execute at least one instruction, at least one program, a code set or an instruction set to implement the power management method of the circuit system of the multi-rotor UAV FCS provided above.

[0020] In a fourth aspect, the present invention provides a computer-readable storage medium, which stores at least one instruction, at least one program, code set or instruction set. The processor can load and execute at least one instruction, at least one program, code set or instruction set to implement the power management method of the circuit system of the multi-rotor UAV FCS provided above.

[0021] In a fifth aspect, the present invention provides a computer program product or a computer program, the computer program product or the computer program comprising computer program instructions, the computer program instructions being stored in a computer-readable storage medium. The processor reads the computer instructions from the computer-readable storage medium and executes the computer instructions, so that the computer device executes the power management method of the circuit system of the multi-rotor UAV FCS provided above.

[0022] The beneficial effects brought about by the technical solution provided by the present invention include at least: The circuit system and power management method of a multi-rotor UAV FCS provided by the present invention solve the matching problem of the multi-voltage platform circuit system architecture when the hydrogen fuel cell system is integrated with the UAV, and provide a more reasonable power management control method to achieve safe, accurate and efficient control of the system. Specifically, a power supply method for components of a multi-voltage platform is provided, and the power supply voltage is stable, which is convenient for the selection of system components and platform design, and avoids being affected by the battery voltage of the UAV; the power supply of components of the multi-voltage platform can be controlled independently, and the control can be completed by the buck-boost power management module or the controller FCU, which is more conducive to the power management of components; each voltage platform is powered on step by step, and self-checks step by step, which reduces the probability of failure and increases the life of components, and the step-by-step power-on can facilitate further narrowing the scope of possible causes of failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0024] Figure 1 A schematic diagram of a circuit system of a multi-rotor UAV FCS provided in the prior art is shown.

[0025] Figure 2A schematic diagram of a circuit system of a multi-rotor UAV FCS provided by an exemplary embodiment of the present invention is shown.

[0026] Figure 3 A flowchart of normal power-on of a FCS of a multi-rotor UAV FCS provided by an exemplary embodiment of the present invention is shown.

[0027] Figure 4 A flowchart of a normal power-off of an FCS of a multi-rotor UAV FCS provided by an exemplary embodiment of the present invention is shown.

[0028] Figure 5 A flowchart of an FCS emergency shutdown power-off method of a circuit system of a multi-rotor UAV FCS provided by an exemplary embodiment of the present invention is shown.

[0029] Figure 6 A schematic diagram of the structure of a computer device for executing a power management method for a circuit system of a multi-rotor UAV FCS provided by an exemplary embodiment of the present invention is shown. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0031] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0032] Figure 2A schematic diagram of a circuit system of a multi-rotor UAV FCS provided by an exemplary embodiment of the present invention is shown, and the circuit system of the rotor UAV FCS includes: a buck-boost power management module (i.e., buck-boost DC / DC in the figure), which transmits the electric energy generated by the battery stack (i.e., the Stack in the figure) to the UAV system, and the buck-boost power management module includes a buck-boost module (i.e., buck-boost module in the figure), a 48V DC converter (i.e., 48V buck DC / DC in the figure), and a 24V DC converter (i.e., 24V buck DC / DC in the figure); a first end of the buck-boost module is connected to the battery stack, and a second end is connected to an energy distribution unit PDU of the UAV system; the 48V DC converter is connected in parallel to the energy distribution unit PDU of the UAV system, which is at least used to power a blower, a circulating pump and a water pump; the 24V DC converter is connected in parallel to the energy distribution unit of the UAV system, which is at least used to power a cooling fan and a controller FCU; wherein the buck-boost power management module is embedded with a control board.

[0033] In detail, the 48V DC converter is connected in parallel to the energy distribution unit PDU of the drone system through a high-voltage pre-charging circuit, and supplies power to the blower, circulation pump and water pump through a three-in-one controller. The 24V DC converter is connected in parallel to the energy distribution unit PDU of the drone system through a low-voltage pre-charging circuit.

[0034] In the embodiments of this application, see Figure 2 The high-voltage / low-voltage pre-charging circuits are both composed of a main relay d / b, a pre-charging relay c / a and a pre-charging resistor Ω. The first end of the main relay d / b is connected to a 48V / 24V DC converter, the second end of the main relay d / b is connected in parallel to the energy distribution unit PDU of the UAV system, the first end of the pre-charging resistor Ω is connected to the second end of the main relay d / b, the second end of the pre-charging resistor Ω is connected to the first end of the pre-charging relay c / a, and the second end of the pre-charging relay c / a is connected to the first end of the main relay d / b.

[0035] It should be noted that the function of the above-mentioned pre-charging circuit is as follows: Since there is normally an X capacitor between the positive and negative poles of the high-voltage busbar of the component, the capacitor is generally used to absorb high-frequency ripple voltage. Therefore, if a voltage is suddenly connected to the X capacitor due to the assembly of the power battery, a very high pulse current will be generated on the capacitor, thereby damaging the capacitor and other components. Therefore, a pre-charging circuit is required. After the power battery is assembled, the main relay is first energized, and then the pre-charging relay is energized. Due to the current limiting effect of the pre-charging resistor, the voltage on the X capacitor will slowly rise. The current peak value is the moving point battery voltage divided by the pre-charging resistor value (generally a hundred ohms level is selected, but a resistor that is too large cannot be selected. The larger the resistor, the longer the pre-charging time). When the X capacitor voltage is about to reach the power battery voltage (generally within plus or minus 20V, that is, the power battery is 100V, and it is safe to pre-charge to 80V), the main positive relay can be energized. When the main positive relay is successfully energized, the pre-charging relay can be disconnected, and only the main positive relay is energized, and the pre-charging action is completed. The present application does not have a main negative relay, but only has a main positive relay, a pre-charge relay and a pre-charge resistor. It is understandable that a main negative relay can be added to the present application according to actual needs, and this is not limited.

[0036] In the embodiment of the present application, the hydrogen fuel cell system (Fuel Cell System, FCS) is a device that directly converts hydrogen and oxygen into electrical energy through an electrochemical reaction without going through a combustion process. It is composed of a stack of multiple single fuel cells, each of which contains an anode, a cathode, and an electrolyte membrane between the two; when hydrogen is fed into the anode, it is decomposed into protons (i.e., hydrogen ions) and electrons under the action of a catalyst; protons pass through the electrolyte membrane to the cathode, while electrons form an electric current through an external circuit, and finally combine with oxygen at the cathode to generate water; the only byproducts in this process are water and heat, so it is regarded as a clean and efficient energy conversion technology.

[0037] In the embodiment of the present application, the PDU (Power Distribution Unit) of the drone system plays a vital role in the drone architecture. It is not only responsible for reasonably distributing the energy from the battery or other power sources to various power-consuming components, such as motors, sensors, communication modules, etc., to ensure that each component can obtain a stable and appropriate amount of power supply, but also for drones that adopt hybrid power or multi-source power supply solutions, the PDU also undertakes the task of coordinating the conversion and distribution between different energy sources to optimize the overall energy efficiency. For example, in the design of a multi-rotor hybrid drone, the PDU can integrate advanced energy management algorithms to dynamically adjust the output ratio of each power source according to the flight status, thereby extending the flight time or improving the operating efficiency.

[0038] In the embodiment of the present application, the controller FCU (Fuel Cell Control Unit) of the hydrogen fuel cell system is a core electronic control unit specially designed to manage the operation of hydrogen fuel cells in drones. It is not only responsible for monitoring and adjusting the working status of the fuel cell stack, ensuring the optimal mixing ratio of hydrogen and air to maintain an efficient electrochemical reaction, but also undertakes the comprehensive management of the entire fuel cell system, including but not limited to precise control of temperature, pressure and humidity, and optimizing fuel supply by adjusting the air compressor and hydrogen injection valve. In addition, the FCU is able to monitor the system health in real time, perform fault diagnosis, and take protective measures when necessary to avoid potential risks. In order to adapt to the unique needs of drones, such as lightweight design and compact space constraints, the FCU usually integrates advanced algorithms and hardware architectures that support fast response to ensure stable power output even in extreme environments.

[0039] In general, the circuit system design of the rotorcraft UAV FCS is designed to ensure efficient, stable and safe energy transmission and distribution from the hydrogen fuel cell stack to the various power-consuming components of the UAV. As the core of this process, the buck-boost DC / DC power management module can not only adapt to the changes in the output voltage of the fuel cell stack, but also provide a stable power supply according to the different needs of the UAV system. Specifically, the first end of the buck-boost module is connected to the fuel cell stack, receiving the DC power generated by it, and adjusting the output voltage level through internal control logic to meet the requirements of subsequent converters and loads. The second end is connected to the energy distribution unit PDU of the UAV system to ensure that all power-consuming devices can obtain appropriate and reliable power supply. The 48V DC converter (48V buck DC / DC) is connected in parallel to the PDU to power high-power demand components such as blowers, circulation pumps and water pumps, which are essential to maintain the normal operation of the fuel cell system, such as maintaining proper air circulation and coolant circulation. The 24V DC converter (24Vbuck DC / DC) is also connected in parallel to the PDU, but is mainly used for low-power critical control systems such as cooling fans and controller FCU to ensure that basic functions can be maintained even under extreme conditions. It is worth noting that in order to prevent the high current shock that may occur during sudden startup or restart, the 48V DC converter is connected in parallel to the PDU through a high-voltage pre-charging circuit, and the three-in-one controller is responsible for coordinating the work of the blower, circulation pump and water pump; similarly, the 24V DC converter is also connected in parallel to the PDU through a low-voltage pre-charging circuit. This design can effectively reduce the pressure on the entire power system at the moment of startup and protect sensitive electronic components from damage. In addition, the buck-boost power management module is embedded with a control board for intelligent management and monitoring, including but not limited to overvoltage / undervoltage protection, temperature monitoring, and fault diagnosis. This not only improves the reliability and safety of the system, but also makes maintenance easier, because performance can be improved through software updates without having to replace hardware. In short, this carefully designed power management system is one of the key factors to ensure that hydrogen fuel cell-powered drones can fly stably in various complex environments.

[0040] Figure 3 A flowchart of a normal power-on method of a circuit system of a multi-rotor unmanned aerial vehicle FCS provided by an exemplary embodiment of the present invention is shown. The power management method of the circuit system of the multi-rotor unmanned aerial vehicle FCS is applied to the circuit system of the multi-rotor unmanned aerial vehicle FCS, and the method includes: FCS is powered on normally: Triggered by the lithium battery assembly action of the drone system, the high voltage on the output side of the buck-boost DC / DC of the buck-boost power management module is powered on to power on the embedded control board, thus completing the power-on process of the buck-boost DC / DC of the buck-boost power management module; In response to the buck-boost DC / DC power management module powering on and self-checking without any faults, its embedded control board controls the low-voltage pre-charging circuit on the input side of the 24V DC converter to pre-charge (pre-charging process: first close the pre-charging relay a in the low-voltage pre-charging circuit, when the voltage detection points on both sides of the pre-charging relay detect that the voltage deviation is less than a certain range, such as 20V, it is considered that the pre-charging is successful, and then the main relay b in the low-voltage pre-charging circuit is attracted. After the main relay b is successfully attracted, the pre-charging relay a is disconnected, and the pre-charging process is completed.); In response to the completion of 24V pre-charging, the low-voltage components in the controller FCU and FCS are all powered on successfully at low voltage, and all low-voltage components in the FCS perform self-tests. If no faults are found, the controller FCU controls the high-voltage pre-charging circuit on the input side of the 48V DC converter to perform pre-charging (the pre-charging process is the same as the above 24V pre-charging, corresponding to the pre-charging relay c and the main relay d in the high-voltage pre-charging circuit respectively); In response to the completion of 48V pre-charging and self-checking without any faults, the FCS high and low voltages are powered on and enter the standby state, waiting for the start-up command of the UAV system. If a safety fault occurs during the FCS power-on process (any fault that affects electrical safety, hydrogen safety or performance), the FCS reports the fault to the UAV system and prohibits starting.

[0041] In the embodiment of the present application, the power-on process of FCS (Fuel Cell System) is described to ensure that the power management module and each power-consuming component are safely started in a predetermined order, and strict self-checks are performed at each stage to ensure the stability and safety of the system. Specifically, when the lithium battery assembly action of the drone system is triggered, the output side high voltage of the buck-boost DC / DC power management module is first powered on, so that the embedded control board obtains power and completes its own initialization process. Once the buck-boost DC / DC power management module is successfully powered on and confirmed to be fault-free through self-checking, the next step is the operation of the low-voltage pre-charging circuit on the input side of the 24V DC converter. In this process, the low-voltage pre-charging relay a is closed first, waiting for the voltage deviation to reach the preset threshold (for example, within 20V), and then the main relay b is attracted, and finally the pre-charging relay a is disconnected to avoid current shock from causing damage to the circuit. With the successful completion of the 24V pre-charging, all low-voltage components in the controller FCU and FCS are gradually activated, and the necessary self-check procedures are performed to verify whether their own status is normal. Next, after confirming that the 24V low-voltage components are working well, the controller FCU will take over control and start a similar pre-charging operation on the high-voltage pre-charging circuit on the input side of the 48V DC converter, including closing the pre-charging relay c, detecting the voltage difference until the conditions are met, and then closing the main relay d and disconnecting the pre-charging relay. During the entire pre-charging process, the system will continue to monitor various parameters to ensure that each step is strictly carried out in accordance with established standards. Only when the 48V high-voltage pre-charging is also successfully completed and passes the comprehensive self-test again, the entire FCS is considered to have been fully powered on and enters standby mode, ready to receive the start-up command from the drone system.

[0042] It is worth noting that if any problem occurs at any stage of the entire power-on process that may affect electrical safety, hydrogen energy safety or performance, the FCS will immediately stop further operations and report fault information to the UAV system, while prohibiting any startup attempts to maximize the safety of equipment and personnel.

[0043] Figure 4 A flowchart of a power management method for a circuit system of a multi-rotor unmanned aerial vehicle FCS provided by an exemplary embodiment of the present invention is shown, wherein the power management method for a circuit system of the multi-rotor unmanned aerial vehicle FCS is normally powered off. The power management method for the circuit system of the multi-rotor unmanned aerial vehicle FCS further includes: FCS is powered off normally: In response to the controller FCU determining that the FCS needs to be shut down (the source of the shutdown request may be a failure of the drone system, battery charging power limitation, etc., or a failure that requires shutdown during the operation of the FCS itself), the controller FCU controls the subsystems in the FCS to enter a normal shutdown process (generally including the process of reducing the system power to idle speed, purging the water vapor in the fuel cell stack, maintaining the air pressure in the hydrogen circuit, and cooling the fuel cell cooling water circuit). At the end of the FCS shutdown process, the buck-boost DC / DC power management module performs wave blocking to interrupt the power transmission path from the fuel cell stack to the lithium battery. After the buck-boost DC / DC power management module performs wave blocking, it is necessary to delay for a preset time period (such as 0.2 seconds) before the controller FCU controls the main relay d of the high-voltage pre-charging circuit on the input side of the 48V DC converter to disconnect; among them, the main relay b of the low-voltage pre-charging circuit on the input side of the 24V DC converter does not need to be disconnected until it is automatically disconnected after the lithium battery is removed (because the lithium battery is not removed and the FCS needs to be restarted after normal shutdown, if the main relay b of the low-voltage pre-charging circuit on the input side of the 24V DC converter is disconnected, the FCU will be powered off, and thus unable to issue an instruction requesting the 48V pre-charging circuit to operate, and thus unable to complete the restart action of the FCS).

[0044] In the embodiment of the present application, the normal power-off process of the FCS (Fuel Cell System) when receiving a shutdown request is described, aiming to ensure that the system is shut down safely and orderly and is ready for a possible restart. When the controller FCU detects a situation that requires shutdown, such as a drone system failure, battery charging power limitation, or a failure in the operation of the FCS itself, it triggers a series of steps to guide the FCS and its subsystems into a controlled shutdown process. This process first involves reducing the power of the system to idle level to reduce energy consumption and heat generation; then purging the water vapor in the fuel cell stack to ensure that the fuel cell is dry inside to avoid moisture from negatively affecting the performance of the fuel cell; at the same time, maintaining the pressure of the hydrogen path stable to prevent gas leakage or pressure fluctuations; and protecting sensitive components from overheating damage by cooling the fuel cell cooling water path. After all the above steps are completed, the buck-boost DC / DC power management module will perform a wave blocking operation, that is, interrupting the power transmission path from the fuel cell stack to the lithium battery, thereby preventing current reverse flow or overload, and ensuring the safety of batteries and other electrical equipment. After completing the wave sealing, in order to ensure that the high-voltage circuit can smoothly reduce the voltage and avoid the impact caused by sudden power failure, the controller FCU will control the main relay d of the high-voltage pre-charging circuit on the input side of the 48V DC converter to disconnect after a preset time period (such as 0.2 seconds).

[0045] It is worth noting that the main relay b of the low-voltage pre-charging circuit on the input side of the 24V DC converter will not be disconnected immediately, but will remain connected until the lithium battery is physically removed. This design allows the FCS to complete the normal shutdown procedure smoothly even if the lithium battery is not removed, and can be quickly restarted when necessary. If the main relay b of the low-voltage pre-charging circuit on the input side of the 24V DC converter is disconnected in advance, the FCU will be powered off, and it will not be able to issue a command to request the 48V pre-charging circuit to operate, and the FCS restart action will not be achieved.

[0046] Figure 5 A flowchart of an FCS emergency shutdown power-off method of a power management method for a circuit system of a multi-rotor UAV FCS provided by an exemplary embodiment of the present invention is shown. The power management method for the circuit system of the multi-rotor UAV FCS also includes: FCS emergency shutdown power off: In response to the controller FCU determining that the FCS needs emergency shutdown (generally a serious fault occurs, such as a short circuit, hydrogen leakage or other safety faults), the controller FCU controls all components in the FCS to stop working immediately the first time the controller FCU determines that an emergency stop is required. At the end of the FCS shutdown process, the buck-boost DC / DC power management module performs wave sealing to interrupt the power transmission path from the battery stack to the lithium battery. After the buck-boost DC / DC power management module performs wave sealing, it is necessary to delay for a preset time period before the controller FCU controls the main relay of the high-voltage pre-charging circuit on the input side of the 48V DC converter to disconnect; the main relay of the low-voltage pre-charging circuit on the input side of the 24V DC converter does not need to be disconnected until it is automatically disconnected after the lithium battery is removed.

[0047] In the embodiment of the present application, the emergency shutdown and power-off process of the FCS (Fuel Cell System) when encountering a serious fault is described, aiming to quickly and safely shut down the system to prevent the potential damage from expanding. When the controller FCU detects a situation that requires emergency shutdown, such as a short circuit, hydrogen leakage, or other safety-threatening faults, it will take immediate action and control all components in the FCS to stop working immediately at the first moment of determining that an emergency stop is required. This immediate response is essential to avoid further deterioration of the fault. During the emergency shutdown process, the buck-boost DC / DC power management module will perform a wave-blocking operation to quickly interrupt the power transmission path from the fuel cell stack to the lithium battery, thereby preventing the current from continuing to flow, thereby protecting the battery and other electrical equipment from damage. After completing the wave-blocking, in order to ensure that the high-voltage circuit can smoothly reduce the voltage and avoid the impact of sudden power failure, the controller FCU will control the main relay of the high-voltage pre-charging circuit on the input side of the 48V DC converter to disconnect after a preset time period. This can reduce the impact on the system while ensuring that all high-power components have stopped working safely.

[0048] It is worth noting that the main relay of the low-voltage pre-charge circuit on the input side of the 24V DC converter will not be disconnected immediately, but will remain connected until the lithium battery is physically removed. This design allows the FCS to complete the emergency shutdown procedure even if the lithium battery is not removed, and retains a certain degree of flexibility for possible restart.

[0049] In addition, any fault that triggers an emergency stop will activate the FCS lock system function, which means that the drone must first land and then manually perform an online unlocking operation (such as sending an unlocking command via the CAN bus), or directly remove and reinstall the lithium battery to resume normal operation. Such a locking mechanism is to ensure that the system can only be put into use again after proper inspection and processing, thereby maximizing the safety of subsequent use.

[0050] It should be noted that the present invention mainly emphasizes the application and control method of the pre-charge function in the circuit system. The scheme used in the circuit design of the pre-charge loop is a conventional circuit, which is not limited to the scheme composed of the main relay, the pre-charge relay and the pre-charge resistor described in the present invention, but also includes the combination of the MOSFET switch tube and the pre-charge resistor; or only through the MOSFET switch tube, through high-frequency switching to achieve a slow pre-charge method; or through other backup power modules through voltage conditioning for the circuit. The circuit. The present invention mainly emphasizes the function of integrating other voltage platform modules in the buck-boost DC / DC, that is, the 24V and 48V buck DC / DC in the architecture, is only to realize the platformization of the power supply voltage of the components, so it is not limited to 24V and 48V, and it may also be 12V, 64V buck DC / DC or boost DC / DC. The present invention mainly emphasizes the control method of power management, wherein the execution object of the control method is not limited to FCU, Buck-boost DC / DC, and it may also be other types of controllers to complete various control instructions.

[0051] Figure 6 A schematic diagram of the structure of a computer device for executing a power management method of a circuit system of a multi-rotor UAV FCS provided by an exemplary embodiment of the present invention is shown, and the computer device includes: The processor 601 includes one or more processing cores. The processor 601 executes various functional applications and data processing by running software programs and modules.

[0052] The receiver 602 and the transmitter 603 can be implemented as a communication component, and the communication component can be a communication chip. Optionally, the communication component can be implemented to include a signal transmission function. That is, the transmitter 603 can be used to transmit a control signal to the image acquisition device and the scanning device, and the receiver 602 can be used to receive the corresponding feedback instruction.

[0053] The memory 604 is connected to the processor 601 via a bus 605 .

[0054] The memory 604 may be used to store at least one instruction, and the processor 601 may be used to execute the at least one instruction to implement each step in the above method embodiment.

[0055] An embodiment of the present invention also provides a computer-readable storage medium, which stores at least one instruction, at least one program, code set or instruction set, which is loaded and executed by a processor to implement the power management method of the circuit system of the above-mentioned multi-rotor drone FCS.

[0056] The present invention also provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. A processor of a computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the power management method of the circuit system of the multi-rotor unmanned aerial vehicle FCS described in any of the above embodiments.

[0057] Optionally, the computer readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a solid state drive (SSD), or an optical disk. Among them, the random access memory may include a resistance random access memory (ReRAM) and a dynamic random access memory (DRAM). The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0058] It should be understood that the specific examples herein are only intended to help those skilled in the art to better understand the present disclosure, rather than to limit the scope of the present invention.

[0059] It is understood that in the various implementations of this specification, the size of the sequence number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the present disclosure.

[0060] It can be understood that the various implementation modes described in this specification can be implemented individually or in combination, and the present disclosure is not limited to this.

[0061] Unless otherwise stated, all technical and scientific terms used in this disclosure have the same meaning as those generally understood by those skilled in the art of the technical field of this specification. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the scope of this specification. The term "and / or" used in this specification includes any and all combinations of one or more related listed items. The singular forms of "a", "above", and "the" used in this disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0062] It can be understood that the processor of the present disclosure can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method implementation method can be completed by the hardware integrated logic circuit or software instructions in the processor. The above processor can be a general processor, a digital signal processor (DigitalSignalProcessor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the present disclosure can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the present disclosure can be directly embodied as a hardware decoding processor to perform, or the hardware and software modules in the decoding processor can be combined to perform. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0063] It is understood that the memory in the present disclosure may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (programmable ROM, PROM), an erasable programmable read-only memory (erasable PROM, EPROM), an electrically erasable programmable read-only memory (EEPROM) or a flash memory. The volatile memory may be a random access memory (RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0064] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this specification.

[0065] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method implementation methods and will not be repeated here.

[0066] In the several embodiments provided in this specification, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device implementation described above is only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0067] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0068] In addition, each functional unit in each embodiment of the present specification may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0069] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this specification, 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. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of this specification. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0070] The above is only a specific implementation of this specification, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in this specification, which should be included in the protection scope of this specification. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A circuit system of a multi-rotor UAV FCS, characterized in that: It includes a step-up / step-down power supply management module for transmitting the electric energy generated by the battery stack to the UAV system, and the step-up / step-down power supply management module includes: A buck-boost module, a first end of which is connected to the battery stack, and a second end of which is connected to the energy distribution unit of the drone system; A 48V DC converter connected in parallel to the energy distribution unit of the drone system, which is used to power at least the blower, the circulation pump and the water pump; and A 24V DC converter, which is connected in parallel to the energy distribution unit of the drone system and is used to at least supply power to the cooling fan and the controller FCU; Wherein, the buck-boost power supply management module is embedded with a control board.

2. The circuit system of the multi-rotor UAV FCS according to claim 1, characterized in that: The 48V DC converter is connected in parallel to the energy distribution unit of the drone system through a high-voltage pre-charging circuit.

3. The circuit system of the multi-rotor UAV FCS according to claim 2, characterized in that: The 48V DC converter supplies power to the blower, circulation pump and water pump through a three-in-one controller.

4. The circuit system of the multi-rotor UAV FCS according to claim 1, characterized in that: The 24V DC converter is connected in parallel to the energy distribution unit of the drone system through a low-voltage pre-charging circuit.

5. A power management method for a circuit system of a multi-rotor UAV FCS, characterized in that: The method is applied to the circuit system of the FCS of the multi-rotor UAV according to any one of claims 1 to 4, and the method comprises: FCS is powered on normally: Triggered by the lithium battery assembly action of the drone system, the output side high voltage of the buck-boost power management module is powered on to power on the embedded control board, so as to complete the power-on process of the buck-boost power management module; In response to the buck-boost power management module being powered on and self-checking without any fault, the embedded control board controls the low-voltage pre-charging circuit on the input side of the 24V DC converter to perform pre-charging; In response to the completion of 24V pre-charging, the controller FCU and the low-voltage components in the FCS are all powered on successfully at low voltage, and all low-voltage components in the FCS perform self-checks. If no faults are found, the controller FCU controls the high-voltage pre-charging circuit on the input side of the 48V DC converter to perform pre-charging; In response to the completion of 48V pre-charging and self-checking without any faults, the high and low voltages of the FCS are powered on and enter a standby state, waiting for the start-up instruction of the drone system. If a safety fault occurs during the power-on process of the FCS, the FCS reports the fault to the drone system and prohibits starting.

6. The power management method for the circuit system of the multi-rotor UAV FCS according to claim 5, characterized in that: The method further comprises: FCS is powered off normally: In response to the controller FCU determining that the FCS needs to be shut down, the controller FCU controls each subsystem in the FCS to enter a normal shutdown process. At the end of the FCS shutdown process, the buck-boost power management module performs wave blocking to interrupt the power transmission path from the battery stack to the lithium battery.

7. The power management method for the circuit system of the multi-rotor UAV FCS according to claim 6, characterized in that: After the buck-boost power management module performs wave blocking, the controller FCU controls the main relay of the high-voltage pre-charging circuit on the input side of the 48V DC converter to disconnect after a preset time period; wherein, the main relay of the low-voltage pre-charging circuit on the input side of the 24V DC converter does not need to be disconnected until it is automatically disconnected after the lithium battery is removed.

8. The power management method for the circuit system of the multi-rotor UAV FCS according to claim 5, characterized in that: The method further comprises: FCS emergency shutdown power off: In response to the controller FCU determining that the FCS needs emergency shutdown, the first moment the controller FCU determines that an emergency stop is required, the controller FCU controls all components in the FCS to stop working immediately. At the end of the FCS shutdown process, the buck-boost power management module performs wave sealing to interrupt the power transmission path from the battery stack to the lithium battery.

9. The power management method for the circuit system of the multi-rotor UAV FCS according to claim 8, characterized in that: After the buck-boost power management module performs wave blocking, the controller FCU controls the main relay of the high-voltage pre-charging circuit on the input side of the 48V DC converter to disconnect after a preset time period; wherein, the main relay of the low-voltage pre-charging circuit on the input side of the 24V DC converter does not need to be disconnected until it is automatically disconnected after the lithium battery is removed.

10. A computer device, characterized in that: The computer device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to implement the power management method of the circuit system of the multi-rotor unmanned aerial vehicle FCS as described in any one of claims 1 to 9.

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