Solar unmanned aerial vehicle energy management control method and system based on reversible hydrogen fuel cell, storage medium and computer device

Abstract

This invention relates to the field of hybrid power control technology for unmanned aerial vehicles (UAVs), and discloses a method, system, storage medium, and computer equipment for energy management and control of solar-powered UAVs based on reversible hydrogen fuel cells. The invention first acquires the current capture amount of the UAV's solar cells and calculates their power generation. Then, based on the characteristics of the reversible hydrogen-oxygen fuel cell and combined with flight conditions, it calculates the remaining hydrogen supply. Finally, the energy management controller allocates the net power of the solar cells according to the flight altitude, remaining hydrogen supply, and onboard equipment power, obtaining the target input power of the propeller and the input or output power of the fuel cell. This invention significantly improves the UAV's endurance through a multi-battery collaborative energy management strategy. Furthermore, this strategy fully considers flight conditions and the characteristics of the energy storage device, and compared to strategies that only rely on the diurnal variation of solar energy and the amount of stored energy, it exhibits superior energy regulation stability and effectiveness in dealing with disturbances caused by changes in flight conditions and solar energy.

Description

Technical Field

[0001] This invention relates to the field of hybrid power control technology for unmanned aerial vehicles (UAVs), and more specifically to a method, system, storage medium, and computer equipment for energy management and control of solar-powered UAVs based on reversible hydrogen fuel cells. Background Technology

[0002] With the development of the green aviation industry, the energy source for aircraft is gradually shifting towards electricity. Electricity sources mainly include power batteries, fuel cells, solar cells, supercapacitors, wireless power transmission, and other types of batteries. Among these, solar energy is a primary energy source that is inexhaustible, widely distributed, and clean, perfectly aligning with the current global environmental spirit. These unique characteristics give solar energy enormous potential in the design of long-endurance UAVs. Furthermore, through the rational design of aircraft energy strategies, it is hoped that continuous flight for months or even years can be achieved.

[0003] Currently, research on aircraft powered primarily by solar energy is quite extensive, with most studies employing lithium batteries as the main energy storage device. However, lithium batteries have inherent drawbacks such as short lifespan and limited charge-discharge cycle life, making it difficult to meet the "annual-scale airborne flight" requirement in the original design of solar-powered drones. In contrast, reversible hydrogen fuel cells, with their significant advantages such as high energy density (250-1000Wh / kg) and long cycle life (>10000h), could greatly improve the endurance of solar-powered drones if used as energy storage devices, providing more reliable energy support for long-endurance flights.

[0004] Furthermore, the current mainstream energy management scheme for solar-powered drones involves determining the battery level and charge / discharge status, and then adjusting the drone's operating conditions based on the flight status. The primary determining factor is battery level; when the battery is high, cruising is initiated, and when the battery is low, descent is performed. This management strategy enables gravity-based energy storage for solar-powered drones, but the propellers require more power to maintain level flight during high-altitude cruising, resulting in high energy consumption and low energy storage utilization. Therefore, it is necessary to optimize the existing energy management strategy and propose a more efficient energy management scheme for solar-powered drones. Summary of the Invention

[0005] This invention proposes an energy management and control method, system, storage medium, and computer equipment for solar-powered unmanned aerial vehicles (UAVs) based on a reversible hydrogen fuel cell. The energy management and control method based on this invention can not only overcome the defects of existing lithium battery energy storage, but also solve the problems of high energy consumption during high-altitude cruise, energy shortage during overnight flight, and insufficient long-endurance of solar-powered UAVs through a dynamic power allocation strategy between the reversible hydrogen fuel cell and the solar cell.

[0006] To achieve the above-mentioned objectives, the technical solution of the present invention is as follows:

[0007] This invention discloses an energy management and control method for a solar-powered unmanned aerial vehicle (UAV) based on a reversible hydrogen fuel cell, the method comprising the following steps:

[0008] Step S1. Based on the drone's wing area, aircraft weight, and flight latitude, obtain the solar energy captured by the drone's solar cells at the current moment, and calculate the electrical power that the solar cells can provide;

[0009] Step S2. Based on the characteristics of the reversible hydrogen-oxygen fuel cell, calculate the hydrogen reserve of the reversible hydrogen-oxygen fuel cell in combination with the flight conditions of the UAV.

[0010] Step S3. Based on the current flight altitude of the UAV and the remaining hydrogen in the reversible hydrogen-oxygen fuel cell, the energy management controller allocates the net power of the solar cells to obtain the input or output power of the reversible hydrogen-oxygen fuel cell and the target input power of the UAV propeller.

[0011] Preferably, in step S3, the drone's current flight altitude is no higher than H. min And when the current hydrogen reserve H_rem of the reversible hydrogen-oxygen fuel cell is greater than or equal to the upper limit of the hydrogen reserve,

[0012] If △P>P prop（H-min） The energy management controller directs the solar panels to power the drone's propellers, allocating all net power from the solar panels to the propellers and disabling the reversible hydrogen-oxygen fuel cell. In this mode, the propellers provide lift to the drone, increasing its altitude and consequently its gravitational potential energy. Therefore, the target input power P of the propellers... prop =△P, the power of the reversible hydrogen-oxygen fuel cell is 0, it has neither output nor input;

[0013] If △P < P prop（H-min） The energy management controller controls the solar cells and reversible hydrogen-oxygen fuel cell to jointly power the drone's propellers. All the net power from the solar cells is allocated to the drone's propellers, ensuring the drone flies at its minimum cruising altitude. At this point, the reversible hydrogen-oxygen fuel cell outputs power P. fuel-out =P prop（H-min） -△P, Propeller target input power P prop =P prop（H-min） =△P+P fuel-out ;

[0014] Where ΔP is the net power of the solar cell, P prop（H-min） H represents the propeller power corresponding to the lower limit of the drone's cruising altitude. min This is the lower limit of the drone's cruising altitude.

[0015] Preferably, in step S3, the drone's current flight altitude is no higher than H. min And when the current hydrogen reserve H_rem of the reversible hydrogen-oxygen fuel cell is less than the upper limit of the hydrogen reserve,

[0016] If △P>P prop（H-min） The energy management controller controls the solar panels to power the drone's propellers and reversible hydrogen-oxygen fuel cell, prioritizing the allocation of net solar power to the propellers to meet the power requirements for normal propeller operation at the lowest cruising altitude. The remaining net solar power is stored in the reversible hydrogen-oxygen fuel cell. At this time, the target input power P of the propellers... prop =P prop（H-min） The input power P of the reversible hydrogen-oxygen fuel cell fuel-in =△PP prop（H-min） ;

[0017] If △P < P prop（H-min） The energy management controller uses both solar cells and a reversible hydrogen-oxygen fuel cell to power the drone propellers, allocating all net power from the solar cells to the drone propellers, while the reversible hydrogen-oxygen fuel cell outputs power P. fuel-out =P prop（H-min） -△P, which enables the UAV to maintain its minimum cruising altitude, at which point the propeller target input power P prop =P prop（H-min） ;

[0018] Preferably, in step S3, H min <Current flight altitude of the drone <H max And when the current hydrogen reserve H_rem of the reversible hydrogen-oxygen fuel cell is less than the upper limit of the hydrogen reserve,

[0019] If ΔP < 0, the energy management controller controls the solar cells and the reversible hydrogen-oxygen fuel cell to jointly power the onboard equipment, and controls the output power P of the reversible hydrogen-oxygen fuel cell. fuel-out =-△P, and the drone propeller is not working, the target input power P of the propeller is... prop =0, the drone is currently descending and its gravitational potential energy is decreasing;

[0020] If △P>0 and △PP fuelmax When the power output is greater than 0, the energy management controller allocates the net power of the solar cells to the reversible hydrogen-oxygen fuel cell and the drone propellers, controlling the solar cells to charge the reversible hydrogen-oxygen fuel cell and power the drone propellers at maximum power. At this time, the target input power P of the propellers is... prop =△PP fuelmax The input power P of the reversible hydrogen-oxygen fuel cell fuel-in =P fuelmaxAt this time, the drone can climb or descend, corresponding to an increase or decrease in gravitational potential energy.

[0021] If △P>0 and △PP fuelmax When the power output is less than 0, the energy management controller allocates all the net power of the solar cells to charge the reversible hydrogen-oxygen fuel cell. At this time, the input power P of the reversible hydrogen-oxygen fuel cell is... fuel-in =-△P, the propeller is not working, and its target input power P prop =0, at this time the drone is in a descending state, the flight altitude is reduced, and the gravitational potential energy is reduced accordingly;

[0022] Among them, P fuelmax This represents the upper limit of the maximum input power of the fuel cell.

[0023] Preferably, in step S3, H min <Current flight altitude of the drone <H max And when the hydrogen reserve H_rem of the reversible hydrogen-oxygen fuel cell is greater than or equal to the upper limit of the hydrogen reserve,

[0024] If ΔP < 0, the energy management controller controls the solar cells and the reversible hydrogen-oxygen fuel cell to jointly power the onboard equipment, and the output power of the reversible hydrogen-oxygen fuel cell is P. fuel-out =-△P, propeller not working, propeller target input power P prop =0, at this time the drone is in a descending state, the flight altitude is reduced, and the gravitational potential energy is reduced;

[0025] If ΔP > 0, the energy management controller controls the solar cells to power the onboard equipment and propellers, and the reversible hydrogen-oxygen fuel cell does not operate. Therefore, the target input power of the propeller is P. prop =△P, when the drone ascends or descends, its gravitational potential energy increases or decreases;

[0026] Preferably, in step S3, when the current flight altitude of the UAV is ≥ H max And when the hydrogen balance H_rem < the upper limit of the hydrogen balance,

[0027] If ΔP > 0, the energy management controller controls the solar cells to power the onboard equipment and charge the reversible hydrogen-oxygen fuel cell. The input power P of the reversible hydrogen-oxygen fuel cell is... fuel-in =△P, the propeller is not working, the drone is descending, the flight altitude is decreasing, and the gravitational potential energy is decreasing;

[0028] If ΔP < 0, the energy management controller controls the solar cells and the reversible hydrogen-oxygen fuel cell to jointly power the onboard equipment, and the output power P of the reversible hydrogen-oxygen fuel cell is... fuel-out =-△P, the propellers stop working, and the drone descends.

[0029] Where ΔP is the net power of the solar cell, H max This is the upper limit for the drone's cruising altitude.

[0030] Preferably, in step S3, the current flight altitude of the UAV is ≥H. max And when the current reversible hydrogen-oxygen fuel hydrogen balance H_rem ≥ the upper limit of hydrogen balance,

[0031] If △P>P prop（H-max） The energy management controller controls the solar panels to power the onboard equipment and propellers; the fuel cells are not operating, and the target input power P of the propellers is [not specified]. prop =P prop（H-max） The drone's flight altitude remains unchanged;

[0032] If △P < P prop（H-max） Furthermore, when ΔP > 0, the energy management controller controls the solar cells to power the onboard equipment and propellers, the fuel cells do not operate, and the target input power P of the propellers is [not specified]. prop =△P, the drone descends;

[0033] If ΔP < 0, the energy management controller controls the solar cells and the reversible hydrogen-oxygen fuel cell to jointly power the onboard equipment, the propeller does not operate, and the output power P of the reversible hydrogen-oxygen fuel cell is... fuel-out =-△P;

[0034] Where ΔP is the net power of the solar cell, H max P is the upper limit of the drone's cruising altitude. prop（H-max） This represents the propeller power corresponding to the upper limit of the cruising altitude.

[0035] Preferably, in step S2, the hydrogen reserve of the reversible hydrogen-oxygen fuel cell is calculated as follows:

[0036] Equation (1);

[0037] Equation (2);

[0038] Where H_rem is the hydrogen reserve in the reversible hydrogen-oxygen fuel cell; t For time; E fuel For storing energy in reversible hydrogen-oxygen fuel cells; or fuel For the charge / discharge efficiency of reversible hydrogen-oxygen fuel cells; P fuel The charging and discharging power of a reversible hydrogen-oxygen fuel cell; H LHV The lower heating value of hydrogen; or fuel,sThe fuel utilization rate of reversible hydrogen-oxygen fuel cells is related to the drone's flight altitude and the hydrogen and oxygen storage methods.

[0039] Based on the same inventive concept, this invention also proposes a solar-powered drone energy management and control system based on a reversible hydrogen fuel cell. The system is used to implement the aforementioned solar-powered drone energy management and control method based on a reversible hydrogen fuel cell, comprising:

[0040] The energy management controller allocates the net power of the solar cells based on the drone's current flight altitude and the remaining hydrogen in the reversible hydrogen-oxygen fuel cell.

[0041] A reversible hydrogen-oxygen fuel cell is used to store or release energy according to the allocation results of an energy management controller; wherein the released energy is used to power onboard equipment and / or propellers, and the stored energy is used to charge the fuel cell by receiving electricity from solar cells;

[0042] Solar cells are used to power at least one of airborne equipment, drone propellers, and reversible hydrogen-oxygen fuel cells, based on the allocation results of an energy management controller.

[0043] Preferably, the energy management system further includes a lithium battery, which is mainly used for peak shaving and valley filling during the drone's cruise phase. During the drone's cruise phase, if the reversible hydrogen-oxygen fuel cell has surplus power, it can supply power to the lithium battery in addition to powering the onboard equipment and / or propellers; if the reversible hydrogen-oxygen fuel cell's power is below a limit, the lithium battery can release energy to the reversible hydrogen-oxygen fuel cell to charge it.

[0044] In special circumstances, lithium batteries can also be used to power onboard equipment and / or propellers during the drone's climb phase.

[0045] Furthermore, the present invention also discloses a storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described energy management and control method for a solar-powered unmanned aerial vehicle based on a reversible hydrogen fuel cell.

[0046] Furthermore, the present invention also discloses a computer device, including a memory, a processor, and a computer program stored in the memory and executable in the processor. When the processor executes the computer program, it implements the above-described energy management and control method for a solar-powered unmanned aerial vehicle based on a reversible hydrogen fuel cell.

[0047] The beneficial effects of this invention are:

[0048] 1. This invention uses a reversible fuel cell as the main energy storage device for a solar-powered drone, which can significantly improve the drone's endurance and provide more reliable energy support for long-endurance flights. Furthermore, through an energy management strategy, multiple onboard batteries work together to further extend the drone's flight time. The energy management strategy uses indicators such as the remaining hydrogen capacity of the reversible fuel cell, the drone's flight altitude, and the net power of the solar cells as criteria for determining the energy management strategy. This fully considers the drone's flight conditions and the characteristics of the energy storage device. Compared to previous strategies that simply rely on diurnal variations in solar energy and stored energy capacity, this approach offers better energy regulation stability and effectiveness in responding to disturbances caused by changes in operating conditions and solar energy levels.

[0049] 2. This invention employs a three-power parallel supply architecture consisting of a reversible hydrogen-oxygen fuel cell, a solar cell, and a secondary battery (lithium battery, sodium battery, lead-acid battery, etc.) as the energy system for a solar-powered UAV with variable cruising altitude. Based on the energy management strategy of this invention, the comprehensive regulation of three energy storage methods—reversible hydrogen-oxygen fuel cell, secondary battery, and gravitational potential energy (gravitational potential energy generated by changes in cruising altitude)—significantly improves the overall energy utilization efficiency of the solar-powered UAV, solves the problem of uneven spatial and temporal distribution (time and altitude) of solar energy affecting the continuous flight of the UAV across day and night, and can greatly improve the endurance of the solar-powered UAV.

[0050] 3. The reversible hydrogen-oxygen fuel cell, solar cell, and secondary battery of this invention form a multi-energy complementary dynamic power supply network for UAVs. During the UAV's climb phase, a three-power parallel power supply architecture (solar energy + reversible hydrogen-oxygen fuel cell + lithium battery) is adopted. During the cruise phase, the lithium battery achieves peak shaving and valley filling through a bidirectional DC-DC converter, mainly playing the role of power regulation. This can solve the problem of instantaneous power fluctuation caused by the slow reaction of the reversible hydrogen-oxygen fuel cell, and significantly enhance the stability of the UAV during long-endurance flight.

[0051] 4. This invention organically integrates three energy storage methods—reversible hydrogen-oxygen fuel cells, secondary batteries, and gravitational potential energy—into a unified energy storage module, taking into account characteristics such as high energy density, fast power response, and low cost-effectiveness, to meet the application requirements of solar-powered drones such as continuous flight and variable load wind resistance.

[0052] 5. The solar priority charging mechanism proposed in this invention uses power judgment logic to prioritize charging the fuel cell with net solar power. Power exceeding the charging limit is directly used for the drone's ascent, converting and storing solar energy as the drone's gravitational potential energy. Compared with the traditional strategy of descent when the power is insufficient, this achieves efficient energy utilization.

[0053] 6. The hydrogen reserve calculation method proposed in this invention fully considers the influence of parameters such as flight conditions, hydrogen and oxygen storage forms, and stack performance on the energy storage performance of reversible hydrogen-oxygen fuel cells, making the estimation of the usable hydrogen mass (remaining usable energy) of reversible hydrogen-oxygen fuel cells more accurate. This can improve the effectiveness of energy management strategies and help to further improve the endurance of solar-powered drones. Attached Figure Description

[0054] The foregoing and hereinafter detailed description of the invention becomes clearer when read in conjunction with the following drawings, in which:

[0055] Figure 1 This is a flowchart of the method of the present invention;

[0056] Figure 2 This is a system architecture diagram of the present invention;

[0057] Figure 3 This is a graph showing the percentage of theoretical hydrogen balance as a function of time. Detailed Implementation

[0058] To enable those skilled in the art to better understand the technical solutions of this invention, specific embodiments will be used to further illustrate the technical solutions for achieving the objectives of this invention. It should be noted that the technical solutions claimed by this invention include, but are not limited to, the following embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort should fall within the scope of protection of this invention.

[0059] Example 1

[0060] This embodiment discloses an energy management and control method for a solar-powered unmanned aerial vehicle (UAV) based on a reversible hydrogen fuel cell. The energy management and control method includes the following steps:

[0061] Step S1. Based on the UAV's wing area, aircraft weight, and flight latitude, obtain the solar energy captured by the UAV's solar cells at the current moment, and calculate the power generation capacity that the solar cells can provide; the calculation method for the power generation capacity that the solar cells can provide is as follows:

[0062] ;

[0063] in, P s Power generated by solar cells; SI 0 is the solar constant, taken as 1352. W / m 2 ; e This is the correction factor for the Earth-Sun distance; t h represents atmospheric transmittance; h represents the solar altitude angle.T c The temperature coefficient of a solar cell; S sc The effective installation area of ​​the solar panels; c This refers to the power generation efficiency of solar cells.

[0064] In the embodiments described in this invention, the segmented power of the solar cell can also be obtained by on-board MPPT measurement.

[0065] Step S2. Based on the characteristics of the reversible hydrogen-oxygen fuel cell, calculate the remaining hydrogen capacity of the reversible hydrogen-oxygen fuel cell when the UAV is in the cruise phase, combined with the flight conditions of the UAV.

[0066] In the embodiments described in this invention, the hydrogen surplus of the reversible hydrogen-oxygen fuel cell can be measured (total amount - usage) by a weighing sensor or a flow meter, but it can also be calculated. Specifically, if the ideal gas assumption is adopted, the theoretical hydrogen surplus calculation formula for the reversible hydrogen-oxygen fuel cell is as follows:

[0067] Equation (1);

[0068] Equation (2);

[0069] Where H_rem is the hydrogen reserve in the reversible hydrogen-oxygen fuel cell; t For time; E fuel For storing energy in reversible hydrogen-oxygen fuel cells; or fuel For the charge / discharge efficiency of reversible hydrogen-oxygen fuel cells; P fuel The charging and discharging power of a reversible hydrogen-oxygen fuel cell; H LHV The lower heating value of hydrogen; or fuel,s This refers to the fuel utilization rate of a reversible hydrogen-oxygen fuel cell.

[0070] Furthermore, the fuel utilization rate of reversible hydrogen-oxygen fuel cells... or fuel,s The variation in hydrogen and oxygen storage is related to the drone's flight altitude and the method used for hydrogen and oxygen storage. The main factor affecting the storage capacity is the ambient temperature at different flight altitudes. For example, when using high-pressure gas cylinders to store hydrogen and oxygen, the minimum supply pressure of the cylinders is... P 0 (Pa), assuming the ambient temperature at the current flight altitude is T (Unit: Kelvin) Hydrogen and oxygen satisfy the ideal gas equation, therefore:

[0071] Equation (3);

[0072] in, V 0 represents the volume of the gas cylinder. MH 2 represents the molar mass of hydrogen. m 0 represents the initial weight of hydrogen. R This is the universal gas constant. x This is the hydrogen loss rate (for one kilogram of hydrogen, the reaction is incomplete, and the value is between 0 and 1). T The ambient temperature.

[0073] Furthermore, ambient temperature T Flight altitude of drones H Specifically, when the drone is in the troposphere, the ambient temperature... T The calculation method is as follows:

[0074] T = T 0- L × H Equation (4);

[0075] T 0 represents the standard temperature at sea level. L This represents the temperature lapse rate.

[0076] When the drone is in the stratosphere, at the flight altitude H At a speed of 11-20 km, the ambient temperature remained essentially constant. T =-56.5℃; when the flight altitude H At 20-32km, the ambient temperature T The calculation method is as follows:

[0077] T =-56.5℃+( H -20)×1.0℃ / km Formula (5).

[0078] Because conventional lithium batteries have limited application ranges and narrow temperature ranges, and because flight altitudes are high and temperatures are low, the energy management strategy and proposed energy system architecture of this invention are well-suited for flight in low-temperature environments.

[0079] Step S3. Based on the current flight altitude of the UAV and the remaining hydrogen in the reversible hydrogen-oxygen fuel cell, the energy management controller allocates the net power of the solar cells during the cruise phase to obtain the input power P of the reversible hydrogen-oxygen fuel cell. fuel-in Or output power P fuel-out and the target input power P of the UAV propeller prop .

[0080] The specific allocation of the net power of the solar cells is as follows:

[0081] (1) The current flight altitude of the UAV is not higher than H. min And when the hydrogen reserve H_rem of the reversible hydrogen-oxygen fuel cell is greater than or equal to the upper limit of the hydrogen reserve,

[0082] (1.1) If △P>P prop（H-min） This indicates that at this point, the solar cells not only power the onboard equipment, but their net power also powers the drone's propellers. The propellers generate lift, propelling the drone upwards and increasing its altitude (gravitational potential energy). Excess energy is converted into the drone's gravitational potential energy. At this time, the reversible hydrogen-oxygen fuel cell is not operating, and its power is zero. In other words, the energy management controller directly powers the solar cells to supply power to the drone's propellers, increasing the aircraft's altitude. The corresponding target input power P of the propellers... prop =△P;

[0083] (1.2) If △P < P prop（H-min） This indicates that after the solar cells generate enough power to power the onboard equipment, their net power is insufficient for the drone to maintain its minimum cruising altitude. However, the reversible hydrogen-oxygen fuel cell has surplus power. Therefore, the energy management controller controls both the solar cells and the reversible hydrogen-oxygen fuel cell to jointly power the drone's propellers. The energy management controller allocates all the net power from the solar cells to the drone's propellers and controls the reversible hydrogen-oxygen fuel cell to output power P to the drone's propellers. fuel-out =P prop（H-min） -△P, where the target input power P of the propeller is at this time. prop =P prop（H-min） =△P+P fuel-out ;

[0084] Where ΔP is the net power of the solar cell, ΔP = P s -P AV P AV For the power of airborne equipment, P s P represents the power generated by solar energy. prop（H-min） H represents the propeller power corresponding to the lower limit of the drone's cruising altitude. min This is the lower limit of the drone's cruising altitude.

[0085] (2) The current flight altitude of the UAV is not higher than H. min And when the hydrogen reserve H_rem of the reversible hydrogen-oxygen fuel cell is less than the upper limit of the hydrogen reserve,

[0086] (2.1) If △P>P prop（H-min）This means that after the solar cells generate enough power to power the onboard equipment, their net power is sufficient to power the drone's propellers and charge the reversible hydrogen-oxygen fuel cell. However, since the drone's flight altitude is below the minimum cruising altitude, the energy management controller prioritizes allocating a portion of the solar cells' net power to the drone's propellers to ensure they operate normally at the minimum cruising altitude. The remaining energy is then allocated to the reversible hydrogen-oxygen fuel cell for storage. At this point, the target input power P of the propellers is [value missing]. prop =P prop（H-min） The input power P of the reversible hydrogen-oxygen fuel cell fuel-in =△PP prop（H-min） The fuel cell is in a charging state;

[0087] (2.2) If △P < P prop（H-min） This indicates that after the solar cells generate enough power to power the onboard equipment, their net power is insufficient to power the drone's propellers, preventing the drone from maintaining its minimum cruising altitude. Therefore, the energy management controller coordinates the solar cells and the reversible hydrogen-oxygen fuel cell to jointly power the drone's propellers. In this case, all the net power from the solar cells is allocated to the drone's propellers, and the fuel cell is controlled to discharge, outputting a certain amount of power to the propellers. The target input power P of the propellers is then... prop =P prop（H-min） The output power P of the reversible hydrogen-oxygen fuel cell fuel-out =P prop（H-min） -△P.

[0088] (3) At the current moment, H min <Current flight altitude of the drone <H max And when the hydrogen reserve H_rem of the reversible hydrogen-oxygen fuel cell is less than the upper limit of the hydrogen reserve,

[0089] (3.1) If ΔP < 0, it means that the power generation of the solar cells cannot meet the power demand of the airborne equipment, and the solar cells have no net power to allocate. At this time, the energy management controller controls the solar cells and the reversible hydrogen-oxygen fuel cell to jointly supply power to the airborne equipment to meet the basic flight requirements of the aircraft. Since the UAV is currently between the upper and lower limits of its cruising altitude, the propellers can be inactive, and its target input power is 0. The UAV is in a descent state (gravitational potential energy decreases), and the output power P of the reversible hydrogen-oxygen fuel cell is... fuel-out =-△P;

[0090] (3.2) If △P>0 and △PP fuelmaxA value greater than 0 indicates that the solar cells not only meet the power requirements of the onboard equipment, but also have net power to power the drone propellers and the reversible hydrogen-oxygen fuel cell. Since the drone's flight altitude is between its upper and lower limits of cruising altitude, the energy management controller not only controls the solar cells to power the onboard equipment, but also prioritizes allocating net power to the reversible hydrogen-oxygen fuel cell, charging it at maximum power, and finally powering the drone propellers. Therefore, the corresponding input power P of the reversible hydrogen-oxygen fuel cell is... fuel-in =P fuelmax Propeller target input power P prop =△PP fuelmax At this time, the drone can climb or descend, corresponding to an increase or decrease in gravitational potential energy;

[0091] (3.3) If △P>0 and △PP fuelmax A value less than 0 indicates that the solar cells' power generation not only meets the power requirements of the onboard equipment but also has net power available for allocation. However, the net power does not meet the upper limit of the reversible hydrogen-oxygen fuel cell's energy storage capacity. In this case, the energy management controller first controls the solar cells to supply power to the reversible hydrogen-oxygen fuel cell, allocating all net power to charge it. The propellers are not operating at this time, the drone descends, and its gravitational potential energy decreases. The input power P of the reversible hydrogen-oxygen fuel cell... fuel-in =-△P;

[0092] Among them, P fuelmax H represents the maximum input power limit of the fuel cell (i.e., the maximum energy storage power limit). max This is the upper limit for the drone's cruising altitude.

[0093] (4) Current time H min <Current flight altitude of the drone <H max And when the hydrogen reserve H_rem of the reversible hydrogen-oxygen fuel cell is greater than or equal to the upper limit of the hydrogen reserve,

[0094] (4.1) If ΔP < 0, it means that the power generation of the solar cells cannot meet the power demand of the airborne equipment, and the solar cells have no net power to allocate. At this time, the energy management controller controls the solar cells and the reversible hydrogen-oxygen fuel cell to jointly power the airborne equipment, and controls the propellers to stop working. At this time, the UAV descends, and its gravitational potential energy also decreases. The output power of the reversible hydrogen-oxygen fuel cell is P. fuel-out =-△P;

[0095] (4.2) If ΔP > 0, it means that the power generation of the solar cells can not only meet the power demand of the airborne equipment, but also has net power available for allocation. In this case, since the hydrogen reserve of the reversible hydrogen-oxygen fuel cell is greater than or equal to the upper limit of the reserve, the fuel cell does not need energy storage. Therefore, the energy management controller allocates all the net solar power to the UAV propellers, and the reversible hydrogen-oxygen fuel cell does not work. The target input power of the propellers is then P. prop =△P, at which point the drone rises or falls, and the corresponding gravitational potential energy increases or decreases.

[0096] (5) The current flight altitude of the UAV is ≥ H max And when the hydrogen reserve H_rem of the reversible hydrogen-oxygen fuel cell is less than the upper limit of the hydrogen reserve,

[0097] (5.1) If ΔP > 0, the energy management controller controls the solar cells to supply power to the onboard equipment and charges the reversible hydrogen-oxygen fuel cell with net power. At this time, the propellers are not working, the UAV descends, and the gravitational potential energy decreases. The input power P of the reversible hydrogen-oxygen fuel cell is... fuel-in =△P;

[0098] (5.2) If ΔP < 0, the energy management controller controls the solar cells and the reversible hydrogen-oxygen fuel cell to jointly power the onboard equipment. The solar cells have no net power to allocate. At this time, the propellers are not working, the UAV descends, and the gravitational potential energy decreases. The energy management controller controls the output power P of the reversible hydrogen-oxygen fuel cell. fuel-out =-△P.

[0099] (6) The current flight altitude of the UAV is ≥ H max And when the hydrogen balance H_rem of the reversible hydrogen-oxygen fuel is greater than or equal to the upper limit of the hydrogen balance,

[0100] (6.1) If △P>P prop（H-max） The energy management controller controls the solar panels to power the onboard equipment and propellers, distributing the net power of the solar panels to the propellers to maintain the drone's current flight altitude (the drone's gravitational potential energy remains constant). The fuel cell is not operating, and the target input power P of the propellers is [not specified]. prop =P prop（H-max） ;

[0101] (6.2) If △P < P prop（H-max） Furthermore, when ΔP > 0, the energy management controller controls the solar panels to supply power to the onboard equipment and propellers, allocating all the net power of the solar panels to the propellers, with the target input power P of the propellers being... prop =ΔP, the fuel cell is not working; even if all net power is allocated to the propeller, since ΔP < P prop（H-max） Then the drone will also descend, and its gravitational potential energy will decrease;

[0102] (6.3) If ΔP < 0, the energy management controller controls the solar cells and the reversible hydrogen-oxygen fuel cell to jointly power the onboard equipment. The solar cells have no net power to allocate, so the propeller is not working, its target input power is 0, and the output power P of the reversible hydrogen-oxygen fuel cell is... fuel-out =-△P.

[0103] In the embodiments described in this invention, it is understood that when the UAV is in the climb phase, the onboard solar cells, reversible hydrogen-oxygen fuel cells, and lithium batteries work together to power the UAV's onboard equipment (excluding all other electrical equipment such as flight controllers and communications) and propellers, ensuring that the UAV climbs to the lower limit of its cruising altitude. After the climb is completed and the UAV enters the cruising phase, the net power of the solar cells is then allocated to the UAV propellers, onboard equipment, and electrical structures such as the reversible hydrogen-oxygen fuel cells.

[0104] In the aforementioned energy management strategy, the power generated by the solar cells is used to charge the reversible hydrogen-oxygen fuel cells on board. Any remaining power beyond the fuel cell's charging limit is used for climbing. Once fully charged, the power output of the aircraft platform during climbing and descent follows the net solar power input; higher power results in climbing, and lower power results in descent. When the power output of the solar cells does not support the aircraft platform flying at its lower altitude limit, the onboard equipment consumes the energy stored in the reversible hydrogen fuel cell system.

[0105] Based on the same inventive concept, this invention also discloses a solar-powered drone energy management and control system based on a reversible hydrogen fuel cell. Since the principle by which this system solves the problem is similar to the energy management method for a solar-powered drone based on a reversible hydrogen fuel cell, the implementation of this system can be referred to the implementation of the method, and repeated details will not be elaborated further. Although the system described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated. The architecture diagram of the drone energy management system is shown below. Figure 2 As shown, it includes an energy management controller, a reversible hydrogen-oxygen fuel cell, solar cells, and lithium batteries; among which,

[0106] An energy management controller is used to allocate the net power of the solar cells during the drone's cruise phase based on the drone's current flight altitude and the remaining hydrogen in the reversible hydrogen-oxygen fuel cell.

[0107] A reversible hydrogen-oxygen fuel cell is used to store or release energy according to the allocation results of an energy management controller; wherein the released energy is used to power onboard equipment and / or propellers, and the stored energy is used to charge the fuel cell by receiving electricity from solar cells;

[0108] Solar cells are used to power at least one of airborne equipment, drone propellers, and reversible hydrogen-oxygen fuel cells, based on the allocation results of an energy management controller.

[0109] Lithium batteries are mainly used for peak shaving and valley filling during the drone's cruise phase, and in some cases, they can also power onboard equipment and drone propellers during the drone's climb phase.

[0110] Furthermore, the solar cell is composed of a solar cell array, which is connected to the busbar and the power management control via MPPT.

[0111] The lithium battery is connected to the busbar and the energy management control via a DC-DC converter, and the airborne equipment is connected to the busbar via a DC-DC converter.

[0112] The reversible hydrogen-oxygen fuel cell is connected to the busbar and the energy management control via DC-DC converters, and is also equipped with a pressure water tank.

[0113] The propeller motor is connected to the energy manager via an ESC, and the ESC is also connected to a busbar via a DC-DC converter.

[0114] Furthermore, this embodiment also provides a computer device, which includes a processor, an input device, an output device, and a memory, all interconnected. The memory stores a computer program, which includes program instructions, and the processor is configured to invoke the program instructions to execute the steps described in the above embodiment.

[0115] Furthermore, another aspect of this embodiment provides a computer-readable storage medium, characterized in that: the computer-readable storage medium stores a computer program, the computer program including program instructions, which, when executed by a processor, cause the processor to perform the steps in the above embodiments.

[0116] In this embodiment, the processor can be a central processing unit (CPU). The processor can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above types of chips.

[0117] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and units, such as the program units corresponding to the above-described method embodiments of the present invention. The processor executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions, and modules stored in the memory, thereby implementing the methods described in the above-described method embodiments.

[0118] The memory may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor, etc. Furthermore, the memory may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0119] The one or more units are stored in the memory and, when executed by the processor, perform the methods described in the above embodiments.

[0120] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects.

[0121] Example 2

[0122] The energy system of a certain solar-powered drone consists of solar cells, a reversible hydrogen-oxygen fuel cell, lithium batteries, a DC-DC converter, an MPPT (Multi-Purpose Test Panel), a busbar, and an energy management controller. Other major components of the drone include an ESC (Electronic Speed ​​Controller), motors, propellers, and onboard equipment (servos, controllers, antennas, power supplies, payloads, etc.). The energy system architecture of the drone can be found in the appendix to the instruction manual. Figure 2 As shown.

[0123] Other aircraft parameters are as follows: total weight 92.7 kg, solar panel area 22.5 m². 2 The solar cell has a power generation efficiency of 23%, the reversible hydrogen-oxygen fuel cell has a total energy of 20 kWh, the flight altitude is 8000m-25000m, and the flight latitude is 0. o The flight will begin on the summer solstice.

[0124] Step 1: Based on the above parameters, the energy management controller obtains the solar power generation value of the aircraft at the current moment.

[0125] In this implementation case, the summer solstice of a certain year is taken as the start time, and the energy management controller obtains the power generation of the solar cells through solar energy calculation or actual measurement.

[0126] Step 2: Determine the control parameters for the energy management strategy, including the upper and lower limits of cruise altitude and the corresponding cruise power of the motor and propeller, the power of onboard equipment, the upper limit of theoretical hydrogen reserve, and the maximum input power of the reversible hydrogen-oxygen fuel cell.

[0127] Based on the above aircraft parameters, the lower limit of the UAV's cruise altitude is 8000m, and the upper limit is 25000m. The corresponding cruise power can be obtained using measured values ​​from stable flight at the cruise altitude or calculated based on the aircraft's dynamics equations. The formula for calculating the power of the UAV's propeller is as follows:

[0128] Equation (6);

[0129] in, P Propeller power; r air density; V Vacuum speed; S Wing area; C D This is the drag coefficient; k The loss coefficient, which takes into account the losses of motors and power conversion, is taken in the range of 0-1.

[0130] In this embodiment, calculations show that the propeller power corresponding to the lower limit of cruising altitude is 326W, the propeller power corresponding to the upper limit of cruising altitude is 1583W, the power of the airborne equipment is 100W, and the maximum input power of the reversible hydrogen-oxygen fuel cell is 4000W.

[0131] Step 3: During the cruise phase of the UAV flight, the energy management controller acquires three parameters in real time: the UAV's current flight altitude, the theoretical hydrogen reserve of the reversible hydrogen-oxygen fuel cell, and the net power of the solar cells, through aircraft sensors, preset parameters, and logic. It then allocates the net power of the solar cells according to the energy management strategy proposed in Embodiment 1 of this invention, obtaining parameters such as the target input power value of the UAV propellers and the input or output power of the reversible hydrogen-oxygen fuel cell. The percentage change curve of the theoretical hydrogen reserve over time in this embodiment can be found in the appendix to the instruction manual. Figure 3 As shown.

[0132] In this embodiment, the lithium battery plays a stabilizing role by peak shaving and valley filling in response to load fluctuations (changes in operating conditions, sudden winds, and task load switching). The lithium battery voltage (busbar) is consistent with the bus voltage. When the load suddenly increases, the bus voltage drops, and the lithium battery supplies power; conversely, when the load suddenly decreases, the bus voltage rises, and the lithium battery charges. When the bus voltage is below 85% of the set value, the onboard equipment power increases by 100W, and the lithium battery is in a charging state. When the bus voltage is above the set value, the onboard equipment power decreases by 100W, and the lithium battery charging ends.

[0133] Flight performance simulation calculations were performed on the model in this embodiment. It was found that the energy management strategy proposed in this invention significantly increases the minimum remaining battery energy of the UAV throughout the day (from 4% to 30.5%) compared to the traditional simple management and control strategy of charging more and replenishing less at a fixed altitude. This is beneficial for the continuous flight of solar-powered UAVs across day and night.

[0134] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A method for energy management and control of a solar-powered unmanned aerial vehicle based on a reversible hydrogen fuel cell, characterized in that, The energy management method includes the following: Step S1. Based on the drone's wing area, aircraft weight, and flight latitude, obtain the solar energy captured by the drone's solar cells at the current moment, and calculate the power generation capacity that the solar cells can provide; Step S2. Based on the characteristics of the reversible hydrogen-oxygen fuel cell, calculate the hydrogen reserve of the reversible hydrogen-oxygen fuel cell in combination with the flight conditions of the UAV; Step S3. Based on the current flight altitude of the UAV, the remaining hydrogen in the reversible hydrogen-oxygen fuel cell, and the power of the onboard equipment, the energy management controller allocates the net power of the solar cells to obtain the target input power of the UAV propellers and the input or output power of the reversible hydrogen-oxygen fuel cell; the net power of the solar cells is the power generated by the solar cells minus the power of the onboard equipment. In step S3, the drone's current flight altitude is no higher than H. min And when the current hydrogen reserve H_rem of the reversible hydrogen-oxygen fuel cell is less than the upper limit of the hydrogen reserve, If △P>P prop（H-min） The energy management controller prioritizes allocating the net power from the solar cells to the drone's propellers, ensuring sufficient power for normal propeller operation at the lowest cruising altitude. The remaining net power is stored in the reversible hydrogen-oxygen fuel cell. The target input power P of the propellers... prop =P prop（H-min） The input power P of the reversible hydrogen-oxygen fuel cell fuel-in =△PP prop（H-min） ; If △P < P prop（H-min） The energy management controller allocates all the net power of the solar cells to the drone's propellers and simultaneously controls the reversible hydrogen-oxygen fuel cell to power the propellers, enabling the drone to maintain a minimum cruising altitude. The target input power P of the propellers is... prop =P prop（H-min） =△P+P fuel-out The output power P of the reversible hydrogen-oxygen fuel cell fuel-out =P prop（H-min） -△P; Where ΔP is the net power of the solar cell, P prop（H-min） H represents the propeller power corresponding to the lower limit of the drone's cruising altitude. min This is the lower limit of the drone's cruising altitude.

2. The energy management and control method for a solar-powered unmanned aerial vehicle based on a reversible hydrogen fuel cell according to claim 1, characterized in that, In step S3, the current flight altitude of the drone is no higher than H. min And when the hydrogen reserve H_rem of the reversible hydrogen-oxygen fuel cell is greater than or equal to the upper limit of the hydrogen reserve, If △P>P prop（H-min） The energy management controller allocates all the net power of the solar cells to the propellers and controls the reversible hydrogen-oxygen fuel cell to remain inactive. The propellers provide lift, increasing the drone's altitude and gravitational potential energy. The target input power P of the propellers... prop =△P; If △P < P prop（H-min） The energy management controller allocates all the net power of the solar cells to the propellers and simultaneously controls the reversible hydrogen-oxygen fuel cell to power the propellers, enabling the drone to maintain a minimum cruising altitude. The target input power P of the propellers is... prop =P prop（H-min） =△P+P fuel-out The output power P of the reversible hydrogen-oxygen fuel cell fuel-out =P prop（H-min） -△P; Where ΔP is the net power of the solar cell, P prop（H-min） H represents the propeller power corresponding to the lower limit of the drone's cruising altitude. min This is the lower limit of the drone's cruising altitude.

3. The energy management and control method for a solar-powered unmanned aerial vehicle based on a reversible hydrogen fuel cell according to claim 1, characterized in that, In step S3, H min <Current flight altitude of the drone <H max And when the current hydrogen reserve H_rem of the reversible hydrogen-oxygen fuel cell is less than the upper limit of the hydrogen reserve, If ΔP < 0, the energy management controller controls the output power P of the reversible hydrogen-oxygen fuel cell. fuel-out =-△P supplies power to the onboard equipment, the propellers stop working, the drone's flight altitude decreases, and its gravitational potential energy decreases; If △P>0 and △PP fuelmax When the power output is greater than 0, the energy management controller prioritizes allocating the net power from the solar cells to the reversible hydrogen-oxygen fuel cell, charging it at maximum power. The remaining net power is allocated to the drone's propellers, causing the drone to ascend or descend in altitude. The input power P of the reversible hydrogen-oxygen fuel cell... fuel-in =P fuelmax Propeller target input power P prop =△PP fuelmax ; If △P>0 and △PP fuelmax When the value is less than 0, the energy management controller allocates the net power of the solar cells to charge the reversible hydrogen-oxygen fuel cell and controls the propellers to stop working. The drone's flight altitude decreases, and the input power P of the reversible hydrogen-oxygen fuel cell decreases. fuel-in =△P; Where ΔP is the net power of the solar cell, P prop（H-min） P represents the propeller power corresponding to the lower limit of the drone's cruising altitude. fuelmax H represents the maximum input power limit of a fuel cell. min H is the lower limit of the drone's cruising altitude. max This is the upper limit for the drone's cruising altitude.

4. The energy management and control method for a solar-powered unmanned aerial vehicle based on a reversible hydrogen fuel cell according to claim 1, characterized in that, In step S3, H min <Current flight altitude of the drone <H max And when the hydrogen reserve H_rem of the reversible hydrogen-oxygen fuel cell is greater than or equal to the upper limit of the hydrogen reserve, If ΔP < 0, the energy management controller controls the reversible hydrogen-oxygen fuel cell to output power P. fuel-out =-△P, the propeller is not working, the drone's flight altitude decreases, and its gravitational potential energy decreases; If ΔP > 0, the energy management controller allocates the net power of the solar cells to the drone propellers and controls the reversible hydrogen-oxygen fuel cell to remain inactive. The target input power of the propellers is P. prop =△P, the drone's flight altitude increases or decreases; Where ΔP is the net power of the solar cell, H min H is the lower limit of the drone's cruising altitude. max This is the upper limit for the drone's cruising altitude.

5. The energy management and control method for a solar-powered unmanned aerial vehicle based on a reversible hydrogen fuel cell according to claim 1, characterized in that, In step S3, when the drone's current flight altitude is ≥ H max And when the hydrogen balance H_rem < the upper limit of the hydrogen balance, If ΔP > 0, the energy management controller allocates the net power of the solar cells to charge the reversible hydrogen-oxygen fuel cell and controls the propellers to stop working. The drone's flight altitude decreases, its gravitational potential energy decreases, and the input power P of the reversible hydrogen-oxygen fuel cell decreases. fuel-in =△P; If ΔP < 0, the energy management controller controls the output power P of the reversible hydrogen-oxygen fuel cell. fuel-out =-△P, the propeller is not working, the drone's flight altitude decreases, and its gravitational potential energy decreases; Where ΔP is the net power of the solar cell, H max This is the upper limit for the drone's cruising altitude.

6. The energy management and control method for a solar-powered unmanned aerial vehicle based on a reversible hydrogen fuel cell according to claim 1, characterized in that, In step S3, the current flight altitude of the UAV is ≥H. max And when the current reversible hydrogen-oxygen fuel hydrogen balance H_rem ≥ the upper limit of hydrogen balance, If △P>P prop（H-max） The energy management controller allocates the net power from the solar cells to the drone propellers and controls the fuel cells to remain inactive. The target input power P of the propellers is... prop =P prop（H-max） The drone's flight altitude remained unchanged; If △P < P prop（H-max） Furthermore, when ΔP > 0, the energy management controller allocates the net power of the solar cells to the drone propellers and controls the reversible hydrogen-oxygen fuel cell to remain inactive, with the target input power P of the propellers being... prop =△P, the drone descends; If ΔP < 0, the energy management controller controls the output power P of the reversible hydrogen-oxygen fuel cell. fuel-out =-△P, the propeller is not working; Where ΔP is the net power of the solar cell, H max P is the upper limit of the drone's cruising altitude. prop（H-max） This represents the propeller power corresponding to the upper limit of the cruising altitude.

7. The energy management and control method for a solar-powered unmanned aerial vehicle based on a reversible hydrogen fuel cell according to claim 1, characterized in that, In step S2, the calculation method for the hydrogen surplus of the reversible hydrogen-oxygen fuel cell is as follows: Equation (1); Equation (2); Where H_rem is the hydrogen reserve in the reversible hydrogen-oxygen fuel cell; t For time; E fuel For storing energy in reversible hydrogen-oxygen fuel cells; η fuel For the charge / discharge efficiency of reversible hydrogen-oxygen fuel cells; P fuel The charging and discharging power of a reversible hydrogen-oxygen fuel cell; H LHV The lower heating value of hydrogen; η fuel,s The fuel utilization rate of reversible hydrogen-oxygen fuel cells is related to the drone's flight altitude and the hydrogen and oxygen storage methods.

8. A solar-powered unmanned aerial vehicle (UAV) energy management and control system based on a reversible hydrogen fuel cell, characterized in that, The system is used to implement the energy management and control method for solar-powered unmanned aerial vehicles based on reversible hydrogen fuel cells as described in any one of claims 1-7, including: An energy management controller is used to allocate the net power of the solar cells during the drone's cruise phase based on the drone's current flight altitude, the remaining hydrogen in the reversible hydrogen-oxygen fuel cell, and the power of the onboard equipment. A reversible hydrogen-oxygen fuel cell is used to store or release energy according to the allocation results of an energy management controller; wherein the released energy is used to power onboard equipment and / or propellers, and the stored energy is used to charge the fuel cell by receiving net power from solar cells. Solar cells are used to power at least one of airborne equipment, drone propellers, and reversible hydrogen-oxygen fuel cells, based on the allocation results of an energy management controller.

9. The energy management and control system for a solar-powered unmanned aerial vehicle based on a reversible hydrogen fuel cell according to claim 8, characterized in that, It also includes lithium batteries, which are used for peak shaving and valley filling during the drone's cruise phase.

10. A storage medium, characterized in that, It stores a computer program, which, when executed by a processor, implements the energy management and control method for a solar-powered unmanned aerial vehicle based on a reversible hydrogen fuel cell, as described in any one of claims 1 to 7.

11. A computer device, characterized in that, The method includes a memory, a processor, and a computer program stored in the memory and executable in the processor. When the processor executes the computer program, it implements the energy management and control method for a solar-powered unmanned aerial vehicle based on a reversible hydrogen fuel cell, as described in any one of claims 1 to 7.

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