Hybrid propulsion system air-ground load adaptive power following optimization method

Abstract

The application discloses a kind of hybrid propulsion system air-ground load adaptive power following optimization method, comprising: step one: in the running process of air car, first pass through the acquisition method of a variety of sensors construction air-ground state signal, with power demand under different environmental conditions as target data processing;Step two: based on the power demand in step one real-time monitoring and vehicle speed, height, acceleration, environmental condition change situation, establish power distribution model under the state conversion of air flight and ground driving;Step three: based on the motor torque in step two, engine speed situation, obtain the power distribution relationship based on air-ground state signal and piston engine, motor state information;Step four: on the basis of step three, further optimize power distribution by real-time feedback control strategy.The application realizes adaptive response to load change by real-time adjustment of power output, so as to improve the overall operation efficiency and safety of air car.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of optimization control of flying car power systems, and particularly relates to a hybrid propulsion system air-ground load adaptive power following optimization method. BACKGROUND

[0002] With the rapid development of flying car technology, hybrid propulsion systems have gradually become an important research direction in this field due to their significant advantages in energy utilization efficiency and environmental protection. Flying cars need to operate in two different environments, air and ground, although the load may remain unchanged, due to the differences in aerodynamic characteristics and ground frictional resistance, the power demand will be significantly different. Therefore, how to accurately adjust the system power output during air-ground conversion, to ensure the stability and efficiency of the flying car, has become an important technical challenge.

[0003] Existing flying car hybrid propulsion systems mostly adopt fixed power distribution strategies, which fail to fully consider the impact of air-ground load dynamic changes on system power demand. This strategy may be effective in a single operating mode, but when faced with air-ground conversion or complex load changes, the system's power output often cannot match the actual demand, leading to low system efficiency, unstable performance, and even potential safety issues. For example, Chinese invention patent application No. CN202111322286.1, entitled "Power processing method and device for flying car", proposes a power distribution method that iteratively calculates theoretical values based on vehicle operating state parameters and basic aerodynamic data, and then calculates the required power of the flying car in different states through theoretical calculation. Although this method can achieve a certain degree of power regulation, it still has problems such as power following response lag and low overall system efficiency when dealing with complex load changes. Another example is patent application No. CN202311300521.4, entitled "Leg and propeller integrated land-air rapid conversion flying car", which proposes a strategy to adapt to different working conditions through mode switching. However, since the coordinated influence of air and ground environments is not considered, the system is prone to power fluctuations during switching, affecting flight stability and comfort. In addition, patent application No. CN202311401914.4, entitled "Battery system available energy estimation method for flying car based on speed planning allowance", proposes a power distribution method that ensures the car is at the optimal speed in each stage based on the car's optimal energy consumption point. However, this method also does not consider the coordinated influence of air and ground environments, and has limitations.

[0004] In general, the prior art has the following two main problems in power distribution and optimization control strategy: first, the existing research generally optimizes power distribution for a single scenario or load, ignoring the dynamic change characteristics of the air-ground load, resulting in difficulty in real-time following of the load change in complex flight tasks, and the system performance is easily affected. Second, in terms of adaptive control, the existing research only optimizes the power distribution of the fixed mode, lacks in-depth analysis of the change of power demand in the air-ground load conversion process and adaptive adjustment strategy, resulting in the system unable to realize seamless smooth transition during air-ground conversion, affecting the overall operation efficiency and safety of the flying car. Therefore, how to develop an adaptive power following optimization method for the hybrid propulsion system, which can adjust the power output in real time during the air-ground load change and ensure the efficient and stable operation of the system, has become a key factor restricting the further development of the flying car technology. SUMMARY

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

[0006] In view of the above problems of the existing adaptive power following optimization method for the air-ground load of the hybrid propulsion system, the present application is proposed.

[0007] Therefore, the purpose of the present application is to provide an adaptive power following optimization method for the air-ground load of the hybrid propulsion system, which realizes adaptive response to load change by adjusting the power output in real time, thereby improving the overall operation efficiency and safety of the flying car.

[0008] To solve the above technical problems, the present application provides the following technical scheme: an adaptive power following optimization method for the air-ground load of the hybrid propulsion system, comprising:

[0009] Step one: during the operation of the flying car, first, a method for collecting air-ground state signals is constructed by using multiple sensors, and the power demand under different environmental conditions is taken as the target for data processing to obtain real-time monitoring of the power demand of the flying car in the air flight and ground driving state, and the changes of vehicle speed, height, acceleration and environmental conditions;

[0010] Step two: based on the power demand in step one real-time monitoring and vehicle speed, height, acceleration, environmental conditions change, the establishment of air flight and ground driving state conversion under the power distribution model, through the model of air state output information and ground state output information, get the piston engine and motor power distribution value and motor torque, engine speed change, to adapt to different flight mode and working condition of power demand change;

[0011] Step three: based on the motor torque, engine speed in step two, get the power distribution relationship based on air-ground state signal and piston engine, motor state information, get the power demand prediction and flight car state information transfer function, establish dynamic power distribution strategy, get the piston engine and motor power output adjustment parameters, as the output of adaptive adjustment controller, output to the piston engine controller and motor controller;

[0012] Step four: on the basis of step three, through real-time feedback control strategy further optimize power distribution, ensure that the flight car in air-ground state conversion and sudden working condition of power output stability, realize the optimal control of power distribution under different working conditions.

[0013] As a preferred scheme of the mixed propulsion system air-ground load adaptive power following optimization method of the application, wherein: the step one specifically includes:

[0014] 1.1) use speed sensor, position sensor, acceleration sensor to collect the state signal of the flying car, collect the speed v(t), height h(t), acceleration a(t) and environmental state change of the air flight state and ground driving state, filter and pretreat these signals to filter out noise: Wherein, s is the complex frequency, is the speed constant, is the height constant, , is the speed signal and height signal after noise filtering;

[0015] 1.2) based on the environmental conditions (such as wind speed, slope) and the processed state signal, build the power demand model P(t), calculate the air flight power demand And ground driving power demand : Wherein, is the air density, is the air resistance coefficient, A is the windward area, is the traction force of the car;

[0016] 1.3) to the real-time calculated power demand And Monitoring and feedback are performed, and the results are stored in the state feedback module for use in subsequent steps.

[0017] As a preferred solution of the adaptive power following optimization method for the hybrid propulsion system air-ground load, wherein: step two specifically includes:

[0018] 2.1) According to the real-time monitored power demand And , the power distribution model is established, which assumes that the total power demand is , and the power distributed to the piston engine and the electric motor is and : ;

[0019] 2.2) In the case of air-ground state transition, by adjusting the distribution coefficients and in the model, the power distribution values of the piston engine and the electric motor in different states are calculated: , wherein ;

[0020] 2.3) According to the calculated power distribution values, determine the motor torque , engine torque , to adapt to the power demand changes in different flight modes and working conditions.

[0021] As a preferred solution of the adaptive power following optimization method for the hybrid propulsion system air-ground load, wherein: step three specifically includes:

[0022] 3.1) Using the power distribution relationship in step two, combined with the state signal of the flying car, a power demand prediction model P^(t) is established to predict the power demand at future time: ;

[0023] 3.2) Through the power demand prediction model, a transfer function G(s) of power distribution is established, which describes the dynamic relationship between input power demand and output power: , where K is the gain, τ is the time constant, and s is the complex frequency;

[0024] 3.3) Based on the transfer function G(s) and the state feedback results, a dynamic power distribution strategy is designed to determine the power output adjustment parameters and of the piston engine and the electric motor, and take them as the output of the adaptive adjustment controller: , wherein is the transfer function of the motor power, is the transfer function of the engine power.

[0025] As a preferred scheme of the hybrid propulsion system air-ground load adaptive power following optimization method, wherein: the step four specifically comprises:

[0026] 4.1) Monitor the stability of power output of the flying car during the air-ground state transition process through the real-time feedback control strategy, and adjust the power output of the piston engine and the motor using the feedback control law u(t): Wherein, e(t) is the error between power demand and actual power output, Kp, Ki, Kd are control gains;

[0027] 4.2) Based on the feedback control strategy, further optimize the power distribution to ensure stable power output during air-ground state transition and sudden working conditions, realize optimal control of power distribution, and finally ensure efficient operation and safety of the system.

[0028] As a preferred scheme of the hybrid propulsion system air-ground load adaptive power following optimization method, wherein: the hybrid propulsion system air-ground load adaptive power following optimization method is based on a hybrid propulsion system, comprising: a planetary gear coupling mechanism, an aviation piston engine module, an engine, a speed sensor, a torque sensor, a CAN bus, a low-voltage power supply, a low-voltage wire harness, a power control unit, a multi-motor drive module, a motor, an adaptive adjustment controller, a high-voltage wire harness, a high-voltage power supply, a BMS battery management system, an ECU, a voltage sensor and a circuit breaker;

[0029] The outputs of the aviation piston engine module and the multi-motor drive module are coupled through the planetary gear coupling mechanism, and the aviation piston engine and the multi-motor drive module output rotary power through their crankshafts and motor rotors respectively, and transmit the power to the planetary gear coupling mechanism through a transmission device;

[0030] The BMS battery management system is connected to the multi-motor drive module through the high-voltage wire harness, and the positive and negative outputs of the battery pack are connected to the input end of the BMS battery management system through the high-voltage wire harness. The layout of the high-voltage wire harness is reasonable, and the connector of the high-voltage wire harness is connected to the high-voltage input interface of the multi-motor drive module;

[0031] The aviation piston engine module connects the speed sensor and the torque sensor on the engine to the ECU through the low-voltage wire harness, reasonably plans the layout of the wire harness according to the layout of the automobile, and connects the control signal of the ECU to the input end of the power control unit through the low-voltage wire harness to control the power output of the engine;

[0032] The high-voltage power supply is connected with the BMS battery management system through a high-voltage wire harness, and the low-voltage power supply is connected with the BMS battery management system through a low-voltage wire harness; the BMS battery management system can realize power monitoring of the high-voltage power supply and the low-voltage power supply through voltage sensors respectively, and realize power supply protection of the high-voltage power supply and the low-voltage power supply through a circuit breaker and a current limiting circuit; the self-adaptive adjustment controller communicates with the aviation piston engine module, the multi-motor drive module and the BMS battery management system through a CAN bus, dynamically adjusts the power output strategy based on the real-time changes of the air-ground load and system feedback information, and controls the power distribution of the aviation piston engine and the multi-motor drive module.

[0033] As a preferred scheme of the air-ground load adaptive power following optimization method of the hybrid propulsion system, wherein: the power of the piston engine and the motor can be independently or simultaneously input into the coupling mechanism, when the engine and the motor work simultaneously, the planetary gear coupling mechanism synthesizes the input power and transmits it to one or more output shafts; during power transmission, the internal mechanism of the planetary gear automatically adjusts according to the speed and torque of each input to maintain the balance and efficiency of the system, and the synthesized power is transmitted to the propeller through the output shaft of the planetary gear coupling mechanism to provide propulsion for the flying car.

[0034] As a preferred scheme of the air-ground load adaptive power following optimization method of the hybrid propulsion system, wherein: the BMS battery management system is responsible for managing the state of the battery and adjusting the battery output power according to the change of the load, and improves the power distribution efficiency; when the power demand changes suddenly, the BMS battery management system monitors the change of the load and sends a high-frequency power adjustment instruction through the self-adaptive adjustment controller to coordinate the output of the aviation piston engine module and the multi-motor drive module, and realizes precise control of the system.

[0035] As a preferred scheme of the air-ground load adaptive power following optimization method of the hybrid propulsion system, wherein: the planetary gear coupling mechanism is a hollow cylindrical structure composed of a planetary carrier, a sun gear, a planetary gear and an inner ring, the design of the planetary gear allows power to be distributed among multiple inputs, and by adjusting the distribution ratio of the gear mechanism, fine adjustment of the hybrid power output can be realized, and in the event of a fault in the piston engine or the motor, the planetary gear coupling mechanism can redistribute the power to ensure safe operation of the flying car.

[0036] As a preferred scheme of the air-ground load adaptive power following optimization method of the hybrid propulsion system, wherein: the rotation speed sensor and the torque sensor are both patch type, installed on the motor shaft of the multi-motor drive module and the crankshaft of the aviation piston engine module, and used for real-time collection of operation data of the power system.

[0037] The present application has the following advantages:

[0038] 1、The present application not only considers the power demand prediction of the flying car in both air flight and ground driving states, realizes accurate estimation of power demand changes, but also combines real-time monitoring feedback to ensure the stability of the system in different operating states.

[0039] 2、The present application introduces an adaptive power distribution strategy, fully considers the power distribution demand of the flying car during air-ground state conversion, and introduces a dynamic power distribution control strategy, such as preferentially using electric motor high-efficiency energy conversion in air flight mode, and relying on internal combustion engine to provide high torque output in ground driving mode, when state conversion or partial function failure occurs, the system can still maintain the stability of the flying car through dynamic adjustment, realizes power optimization control in different working conditions, and improves the dynamic power distribution efficiency of the system. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. Among them:

[0041] Fig. 1 is a structural diagram of the hybrid propulsion system of the present application;

[0042] Fig. 2 is a structural diagram of the planetary gear coupling mechanism of the present application;

[0043] Fig. 3 is a principle diagram of the method of the present application. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings of the specification.

[0045] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the connotation of the present application, therefore the present application is not limited to the specific embodiments disclosed below.

[0046] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an independent or alternative embodiment that excludes other embodiments.

[0047] Thirdly, the application is described in detail in combination with the schematic diagram, in the detailed description of the embodiments of the application, for the convenience of description, the sectional view of the device structure will be partially enlarged without the general proportion, and the schematic diagram is only an example, which should not limit the scope of protection of the application herein. In addition, the three-dimensional spatial dimensions of length, width and depth should be included in actual production.

[0048] Reference Figs. 1-3 A hybrid propulsion system air-ground load adaptive power following optimization method is provided, comprising:

[0049] Step one: in the running process of the flying car, first, the acquisition method of air-ground state signal is constructed through multiple sensors, the power demand under different environmental conditions is taken as the target for data processing, and the power demand real-time monitoring and the speed, height, acceleration, environmental condition change of the flying car in the air flight and ground driving state are obtained;

[0050] Step two: based on the power demand real-time monitoring and the speed, height, acceleration, environmental condition change in step one, a power distribution model under the conversion of air flight and ground driving state is established, through the air state output information and ground state output information of the model, the power distribution value of the piston engine and the motor, and the motor torque, engine speed change are obtained, so as to adapt to the power demand change under different flight modes and working conditions;

[0051] Step three: based on the motor torque and engine speed in step two, the power distribution relationship based on the air-ground state signal and the piston engine and motor state information is obtained, the transfer function of power demand prediction and flying car state information is obtained, the dynamic power distribution strategy is established, the power output adjustment parameters of the piston engine and the motor are obtained as the output of the adaptive adjustment controller, and are output to the piston engine controller and the motor controller;

[0052] Step four: on the basis of step three, the power distribution is further optimized through real-time feedback control strategy, the power output of the flying car under the conversion of air-ground state and sudden working conditions is ensured to be stable, and the optimal control of power distribution under different working conditions is realized.

[0053] The step one specifically comprises:

[0054] 1.1) Use the speed sensor, position sensor and acceleration sensor to collect the state signal of the flying car, collect the speed v(t), height h(t), acceleration a(t) and environmental state change in the air flight state and ground driving state, filter and pretreat these signals, and filter out the noise: wherein s is a complex frequency, is a speed constant, is the height, ,is the filtered speed and height signal;

[0055] 1.2) Based on environmental conditions (such as wind speed, slope) and processed state signals, construct power demand model P(t), respectively calculate air flight power demand and ground travel power demand : where, is the air density, is the air resistance coefficient, A is the windward area, is the traction force on the car;

[0056] 1.3) Monitor and feedback the real-time calculated power demand and , and store the results in the state feedback module for subsequent steps.

[0057] Further, the second step specifically includes:

[0058] 2.1) According to the real-time monitored power demand and , establish a power distribution model, which assumes that the total power demand is , and the power distributed to the piston engine and the electric motor is and : ;

[0059] 2.2) In the case of air-ground state transition, by adjusting the distribution coefficients and in the model, the power distribution values of the piston engine and the electric motor in different states are calculated: where, ;

[0060] 2.3) According to the calculated power distribution values, determine the motor torque , engine torque to adapt to the change of power demand in different flight modes and working conditions.

[0061] Specifically, the third step specifically includes:

[0062] 3.1) Use the power distribution relationship in step two, combined with the state signal of the flying car, to establish a power demand prediction model P^(t) to predict the power demand at future time: ;

[0063] 3.2) Establish the transfer function G(s) of power distribution by the power demand prediction model, which describes the dynamic relationship between input power demand and output power: where K is the gain, τ is the time constant, and s is the complex frequency;

[0064] 3.3) Based on the transfer function G(s) and the state feedback result, design a dynamic power distribution strategy to determine the power output adjustment parameters of the piston engine and the electric motor and as the output of the adaptive adjustment controller: where, is the transfer function of motor power, is the transfer function of engine power.

[0065] wherein the step 4) specifically comprises:

[0066] 4.1) Monitor the stability of power output during the air-ground state transition of the flying car by using the real-time feedback control strategy, and adjust the power output of the piston engine and the electric motor using the feedback control law u(t): where e(t) is the error between power demand and actual power output, and Kp, Ki, Kd are control gains;

[0067] 4.2) Based on the feedback control strategy, further optimize power distribution to ensure stable power output during air-ground state transition and sudden working conditions, achieve optimal control of power distribution, and ultimately ensure efficient operation and safety of the system.

[0068] wherein the hybrid propulsion system air-ground load adaptive power following optimization method is based on a hybrid propulsion system, including: a planetary gear coupling mechanism 1, an aviation piston engine module 2, an engine 3, a speed sensor 4, a torque sensor 5, a CAN bus 6, a low-voltage power supply 7, a low-voltage wiring harness 8, a power control unit 9, a multi-motor drive module 10, a motor 11, an adaptive adjustment controller 12, a high-voltage wiring harness 13, a high-voltage power supply 14, a BMS battery management system 15, an ECU 16, a voltage sensor 17, and a circuit breaker 18;

[0069] The outputs of the aviation piston engine module 2 and the multi-motor drive module 10 are coupled through the planetary gear coupling mechanism 1, and the aviation piston engine 2 and the multi-motor drive module 10 respectively output rotary power through their crankshafts and motor rotors, and transmit power to the planetary gear coupling mechanism 1 through a transmission device;

[0070] The BMS battery management system 15 is connected to the multi-motor drive module 10 through the high-voltage wire harness 13, the positive and negative outputs of the battery pack are connected to the input end of the BMS battery management system 15 through the high-voltage wire harness 13, and the connector of the high-voltage wire harness 13 is docked with the high-voltage input interface of the multi-motor drive module 10;

[0071] The aviation piston engine module 2 connects the speed sensor 4 and the torque sensor 5 on the engine 3 to the ECU 16 through the low-voltage wire harness 8, reasonably plans the wire harness layout according to the layout of the automobile, connects the control signal of the ECU 16 to the input end of the power control unit 9 through the low-voltage wire harness 8, and controls the power output of the engine 3;

[0072] The high-voltage power supply 14 is connected to the BMS battery management system 15 through the high-voltage wire harness 13, the low-voltage power supply 7 is connected to the BMS battery management system 15 through the low-voltage wire harness 8, the BMS battery management system 15 can realize the power monitoring of the high-voltage power supply 14 and the low-voltage power supply 7 through the voltage sensor 17, and realizes the power supply protection function of the high-voltage power supply and the low-voltage power supply through the circuit breaker 18 and the current limiting circuit; The adaptive adjustment controller 12 communicates with the aviation piston engine module 2, the multi-motor drive module 10 and the BMS battery management system 15 through the CAN bus 6, dynamically adjusts the power output strategy based on the real-time changes of the air-ground load and system feedback information, and controls the power distribution of the aviation piston engine 2 and the multi-motor drive module 10.

[0073] Specifically, the power of the piston engine 3 and the motor 11 can be independently or simultaneously input into the coupling mechanism, when the engine 3 and the motor 11 work simultaneously, the planetary gear coupling mechanism 1 synthesizes these input powers and transmits them to one or more output shafts; During power transmission, the internal mechanism of the planetary gear will automatically adjust according to the speed and torque of each input to maintain the balance and efficiency of the system, and the synthesized power is transmitted to the propeller through the output shaft of the planetary gear coupling mechanism 1 to provide propulsion for the flying car.

[0074] The BMS battery management system 15 is responsible for managing the state of the battery and adjusting the battery output power according to the change of the load, and improves the power distribution efficiency; When the power demand changes suddenly, the BMS battery management system 15 monitors the change of the load and sends a high-frequency power adjustment instruction through the adaptive adjustment controller 12 to coordinate the output of the aviation piston engine module 2 and the multi-motor drive module 10, and realizes precise control of the system.

[0075] Further, the planetary gear coupling mechanism 1 is a hollow cylindrical structure composed of a planet carrier 104, a sun gear 103, a planet gear 101 and an inner ring gear 102, the design of the planetary gear allows power to be distributed among multiple inputs, by adjusting the distribution ratio of the gear mechanism, fine adjustment of the hybrid power output can be achieved, in the event of a failure of the piston engine 3 or the motor 11, the planetary gear coupling mechanism 1 can redistribute power to ensure the safe operation of the flying car, specifically, the rotation speed sensor 4 and the torque sensor 5 are both patch type, installed on the motor shaft of the multi-motor drive module 10 and the crankshaft of the aviation piston engine module 2, for real-time collection of operation data of the power system.

[0076] The application fully considers the power distribution requirements of the flying car during the air-ground state conversion by introducing an adaptive power distribution strategy, and introduces a dynamic power distribution control strategy, for example, in the air flight mode, the electric motor is preferentially used for high-efficiency energy conversion, and in the ground driving mode, the internal combustion engine is relied on to provide high-torque output, when the state conversion or partial function failure occurs, the system can still maintain the stability of the flying car through dynamic adjustment, realizes the power optimization control in different working conditions, and improves the dynamic power distribution efficiency of the system.

[0077] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit it, although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application, which should be covered in the scope of the claims of the present application.

Claims

1. A hybrid propulsion system air-ground payload adaptive power following optimization method, characterized in that, Comprise: Step one: in the process of flying car running, first through a variety of sensors to build air-ground state signal acquisition method, with different environmental conditions as the target of power demand data processing, get flying car in the air flight and ground travel state power demand real-time monitoring and speed, height, acceleration, environmental condition change situation; Step two: based on the power demand real-time monitoring and speed, height, acceleration, environmental condition change situation in step one, establish power distribution model under the conversion of air flight and ground travel state, through the model of air state output information and ground state output information, get the power distribution value of piston engine and motor and motor torque, engine speed change, to adapt to the power demand change under different flight mode and working condition; Step three: based on the motor torque, engine speed in step two, get the power distribution relationship based on air-ground state signal and piston engine, motor state information, get the transfer function of power demand prediction and flying car state information, establish dynamic power distribution strategy, get the power output adjustment parameter of piston engine and motor, as the output of adaptive adjustment controller, output to the piston engine controller and motor controller; Step four: on the basis of step three, further optimize power distribution through real-time feedback control strategy, ensure the power output stability of flying car in air-ground state conversion and sudden working condition, realize the optimal control of power distribution under different working conditions.

2. The hybrid propulsion system air-ground payload adaptive power following optimization method of claim 1, wherein: The step one specifically comprises: 1.1) Collect the speed of the air flight state and the ground driving state using speed sensors, position sensors, acceleration sensors v (t), height h(t) , acceleration a(t) , environmental state changes, filter and preprocess these signals, filter out noise: wherein, s is a complex frequency, is a velocity constant, is a height constant, , is a noise filtered velocity, height signal; 1.2) Based on the environmental conditions and the processed status signals, construct a power demand model P(t) , respectively, calculate the power demand for air flight and the power demand for ground travel : wherein, is the air density, is the air resistance coefficient, A is the wind area, is the traction force experienced by the vehicle; 1.3) Power requirements for real-time calculations and Monitoring and feedback are performed and the results are stored in the state feedback module for use in subsequent steps.

3. The hybrid propulsion system air-ground payload adaptive power following optimization method of claim 2, wherein: The step two specifically comprises: 2.1) Based on real-time monitored power demand and , a power distribution model is established, which assumes that the total power demand is , and the power distributed to the piston engine and the electric motor is and respectively: 2) In the case of a transition between the empty and ground states, the power distribution values between the piston engine and the electric motor are calculated by adjusting the distribution coefficient in the model and , wherein ; 2.3) Determine the motor torque based on the calculated power distribution value , engine torque to adapt to the power demand changes under different flight modes and operating conditions.

4. The hybrid propulsion system air-ground payload adaptive power following optimization method of claim 3, wherein: The step three specifically comprises: 3.1) Using the power distribution relationship in step two, combined with the state signal of the flying car, a power demand prediction model is established P^(t) , to predict the power demand at future time 2) By power demand prediction model, establish the transfer function of power distribution G(s) This function describes the dynamic relationship between input power demand and output power: wherein, K is a gain, τ is a time constant, s is a complex frequency; 3.3) Based on transfer function G(s) And the state feedback results, design dynamic power allocation strategy, determine the power output adjustment parameters of the piston engine and the motor And And take it as the output of the adaptive adjustment controller: wherein is a transfer function of the motor power, is a transfer function of the engine power.

5. The hybrid propulsion system air-ground payload adaptive power follow-up optimization method of claim 1, wherein: The step four specifically comprises: 4.1) Monitor the stability of power output of the flying car during the transition of air-ground state by real-time feedback control strategy, using feedback control law u(t) Adjusting the power output of the piston engine and the electric motor: wherein, e(t) is the error between the power demand and the actual power output, Kp , Ki , Kd is the control gain; 4.2) based on feedback control strategy, further optimize power distribution, ensure the power output stability in air-ground state conversion and sudden working condition, realize the optimal control of power distribution, finally ensure the efficient operation and safety of the system.

6. The hybrid propulsion system air-ground payload adaptive power follow-up optimization method of claim 1, wherein: The hybrid propulsion system air-ground load adaptive power following optimization method is based on a hybrid propulsion system, comprising: a planetary gear coupling mechanism (1), an aviation piston engine module (2), an engine (3), a speed sensor (4), a torque sensor (5), a CAN bus (6), a low-voltage power supply (7), a low-voltage wire harness (8), a power control unit (9), a multi-motor drive module (10), a motor (11), an adaptive adjustment controller (12), a high-voltage wire harness (13), a high-voltage power supply (14), a BMS battery management system (15), an ECU (16), a voltage sensor (17) and a circuit breaker (18); The output of the aviation piston engine module (2) and the multi-motor drive module (10) is coupled through the planetary gear coupling mechanism (1), and the aviation piston engine module (2) and the multi-motor drive module (10) respectively output rotary power through the crankshaft and the rotor of the motor, and transmit the power to the planetary gear coupling mechanism (1) through the transmission device; The BMS battery management system (15) is connected with the multi-motor drive module (10) through a high-voltage wire harness (13), the positive and negative outputs of the battery pack are connected to the input end of the BMS battery management system (15) through the high-voltage wire harness (13), the layout of the high-voltage wire harness (13) is reasonably planned, and the connector of the high-voltage wire harness (13) is docked with the high-voltage input interface of the multi-motor drive module (10); The rotation speed sensor (4) and the torque sensor (5) on the engine (3) are connected to the ECU (16) through a low-voltage wire harness (8), the layout of the wire harness is reasonably planned according to the layout of the automobile, the control signal of the ECU (16) is connected to the input end of the power control unit (9) through the low-voltage wire harness (8), and the power output of the engine (3) is controlled. The high-voltage power supply (14) is connected with the BMS battery management system (15) through the high-voltage wire harness (13), the low-voltage power supply (7) is connected with the BMS battery management system (15) through the low-voltage wire harness (8), the BMS battery management system (15) can realize the power monitoring of the high-voltage power supply (14) and the low-voltage power supply (7) through the voltage sensor (17), and realizes the power supply protection function of the high-voltage power supply and the low-voltage power supply through the circuit breaker (18) and the current limiting circuit; the self-adaptive adjustment controller (12) communicates with the aviation piston engine module (2), the multi-motor drive module (10) and the BMS battery management system (15) through the CAN bus (6), dynamically adjusts the power output strategy based on the real-time change of the air-ground load and the system feedback information, and controls the power distribution of the aviation piston engine (2) and the multi-motor drive module (10).

7. The hybrid propulsion system air-ground payload adaptive power following optimization method of claim 6, wherein: The power of the engine (3) and the motor (11) can be independently or simultaneously input into the coupling mechanism, when the engine (3) and the motor (11) work simultaneously, the planetary gear coupling mechanism (1) synthesizes the input power and transmits it to one or more output shafts; during power transmission, the internal mechanism of the planetary gear will automatically adjust according to the speed and torque of each input to maintain the balance and efficiency of the system, and the synthesized power is transmitted to the propeller through the output shaft of the planetary gear coupling mechanism (1) to provide propulsion for the flying car.

8. The hybrid propulsion system air-ground payload adaptive power following optimization method of claim 6, wherein: The BMS battery management system (15) is responsible for managing the state of the battery and adjusting the battery output power according to the change of the load, and improves the power distribution efficiency; when the power demand changes suddenly, the BMS battery management system (15) monitors the change of the load, and sends a high-frequency power adjustment instruction through the self-adaptive adjustment controller (12) to coordinate the output of the aviation piston engine module (2) and the multi-motor drive module (10), and realizes precise control of the system.

9. The hybrid propulsion system air-ground payload adaptive power follow-up optimization method of claim 6, wherein: The planetary gear coupling mechanism (1) is a hollow cylindrical structure, which is composed of a planet carrier (104), a sun gear (103), a planet gear (101) and an inner ring gear (102). The design of the planetary gear allows power to be distributed among multiple inputs. By adjusting the distribution ratio of the gear mechanism, fine adjustment of the hybrid power output can be achieved. In the event of a failure of the engine (3) or the motor (11), the planetary gear coupling mechanism (1) can redistribute the power to ensure the safe operation of the flying car.

10. The hybrid propulsion system air-ground payload adaptive power follow-up optimization method of claim 6, wherein: The rotation speed sensor (4) and the torque sensor (5) are both patch type, installed on the motor shaft of the multi-motor drive module (10) and the crankshaft of the aviation piston engine module (2), used for real-time collection of operation data of the power system.

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