Direct-current power supply management method, device and system for small unmanned aerial vehicle

Abstract

The invention provides a direct current power supply management method, device and system for a small unmanned aerial vehicle, and the method comprises the steps: carrying out the power supply through an auxiliary power supply loop when a main power supply is interrupted or under-voltage, and carrying out the real-time monitoring of the current input power when the current input voltage fluctuates within a preset threshold value, the circuit voltage is precisely adjusted through a sliding mode control algorithm, so that the output voltage is stably output within the preset standard voltage; and after the main power supply input voltage is recovered, switching back to the main power supply mode, and supplementing electric energy for the energy storage module. On one hand, the problem that an existing battery power supply method cannot meet the power demand of the unmanned aerial vehicle with large load, long flight distance and increased power consumption nacelles is solved, and on the other hand, when the input voltage has the conditions of large fluctuation, switching, static electricity and the like, the power output is stable, and the safety of electric equipment is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of power management, and in particular to a method, device and system for managing a direct current power supply of a small unmanned aerial vehicle. Background Art

[0002] Drones commonly use lithium polymer (LiPo) and lithium ion (Li-ion) batteries to power flight control, inertial navigation, and servos, meeting the power requirements of consumer and general industrial drones. However, as the power consumption of onboard equipment increases, traditional battery-powered systems are unable to meet the power demands of UAVs with heavy payloads, long flight distances, and an increasing number of power pods, limiting their flight time. Therefore, a highly integrated UAV DC power management method is urgently needed to address the inability of existing battery-powered systems to meet the power demands of these systems. Summary of the Invention

[0003] Embodiments of the present invention provide a DC power management method for a small unmanned aerial vehicle (UAV). This method aims to provide a highly integrated UAV DC power management method suitable for drones, addressing the problem that existing battery-powered methods cannot meet the power needs of UAVs with heavy loads, long flight distances, and an increasing number of power-consuming pods. This method utilizes an auxiliary power supply circuit to provide power when the main power supply (a small generator) is interrupted or undervoltage occurs. The method monitors the current input voltage in real time and dynamically adjusts the circuit voltage using a sliding membrane control algorithm when the current input voltage fluctuates within a preset threshold to maintain a stable output voltage within a preset standard voltage. Once the main power supply input voltage recovers, the system switches back to the main power supply mode and replenishes energy for the energy storage module. This method addresses the problem that battery-powered methods cannot meet the power needs of UAVs with heavy loads, long flight distances, and an increasing number of power-consuming pods.

[0004] In a first aspect, an embodiment of the present invention provides a method for managing a DC power supply for a small unmanned aerial vehicle. The method is applied to a DC power supply management system for an unmanned aerial vehicle. The DC power supply management system includes a small generator and an auxiliary power supply circuit, wherein the auxiliary power supply circuit is a backup power supply circuit. The method includes the following steps: When the main power supply is interrupted or undervoltage occurs, power is supplied through the auxiliary power supply circuit and the current input voltage is monitored in real time; When the current input voltage fluctuates within a preset threshold, the circuit voltage is dynamically adjusted through a sliding film control algorithm to maintain a stable output voltage within a preset standard; After the main power supply input voltage is restored, it switches back to the main power supply mode and replenishes power for the energy storage module.

[0005] Optionally, the circuit voltage is dynamically adjusted by a sliding film control algorithm to maintain a stable output voltage within a preset standard voltage, including: Acquiring the output voltage corresponding to the current input voltage through a sliding membrane control algorithm; Calculating a voltage error value based on the output voltage; designing a second-order synovial surface and determining a sign of the second-order synovial surface; According to the sign of the second-order sliding film surface, the circuit voltage is dynamically adjusted to keep the output voltage stable within a preset standard voltage.

[0006] Optionally, the synovial membrane control algorithm includes: Establish the power output state equation: in: V in Indicates the input voltage, Vout Indicates the output voltage, I L represents the inductor current, D represents the duty cycle, L represents inductance, C represents capacitance, R represents the load resistance, and t represents the time.

[0007] Optionally, the voltage error value is defined as ,in Indicates the standard output voltage, Indicates the current output voltage.

[0008] Optionally, the formula for the second-order synovial surface is: + in, Indicates the voltage error value, represents the rate of change of error, Indicates the acceleration of error change.

[0009] Optionally, dynamically adjusting the circuit voltage according to the sign of the sliding membrane surface includes: When the synovial surface symbol S When greater than 0, the trajectory is forced to converge to the sliding surface , forcing the duty cycle to be equal to 1; When the synovial surface symbol S When it is less than 0, it is forced to converge to the sliding surface in the opposite direction. , force the duty cycle to be equal to 0; When the synovial surface symbol S When it is equal to 0, the equivalent duty cycle is used , maintain steady state.

[0010] In a second aspect, an embodiment of the present invention further provides a small unmanned aerial vehicle DC power management device, the device comprising: A monitoring module is used to supply power through the auxiliary power supply circuit when the main power supply is interrupted or undervoltage occurs, and to monitor the current input voltage in real time; A regulating module, configured to dynamically regulate the circuit voltage by using a sliding film control algorithm when the current input voltage fluctuates within a preset threshold value, so as to maintain a stable output voltage within a preset standard voltage; The switching module is used to switch back to the main power supply mode after the main power supply input voltage is restored and replenish power for the energy storage module.

[0011] In a third aspect, an embodiment of the present invention further provides a small unmanned aerial vehicle DC power management system, which includes a small generator and an auxiliary power supply circuit. The auxiliary power supply circuit includes an anti-spike and overvoltage surge module, a boost charging module, an energy storage module, a discharge module, a buck-boost main module and an output filter module; the boost charging module and the discharge module serve as backup inputs of the buck-boost main module; the energy storage module is used to store electrical energy; the discharge module is used to release the electrical energy of the energy storage module; the buck-boost main module is used to dynamically adjust the circuit voltage when the input voltage fluctuates within a preset threshold to keep the output voltage stable at a standard voltage output; the output filter module is used to filter and output the output voltage generated by the buck-boost main module.

[0012] Optionally, the buck-boost main module adopts a SEPIC circuit to combine a buck circuit and a boost circuit to achieve a stable standard voltage output.

[0013] Optionally, in the buck-boost main module, the relationship between the input voltage E and the output voltage U0 is: When the input voltage E is greater than the preset standard voltage, When the input voltage E is lower than the preset standard voltage, in, , t on Indicates the input conduction time of the MOS tube, t off Indicates the turn-off time of the MOS tube.

[0014] In an embodiment of the present invention, when the main power supply is interrupted or undervoltage occurs, power is supplied through an auxiliary power supply circuit, and the current input voltage is monitored in real time. When the current input voltage fluctuates within a preset threshold, the circuit voltage is dynamically adjusted through a sliding membrane control algorithm to maintain a stable output voltage within a preset standard voltage. After the main power input voltage is restored, the circuit switches back to the main power supply mode and replenishes power for the energy storage module. The present invention solves the problem that existing battery power supply methods cannot meet the power needs of unmanned aerial vehicles with large loads, long flight distances, and an increasing number of power pods. At the same time, it increases the stability and anti-interference performance of the power supply, ensuring the safety of electrical equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 This is a structural diagram of a small unmanned aerial vehicle DC power management system provided by an embodiment of the present invention. Figure 2 This is a peak voltage withstand circuit diagram provided by an embodiment of the present invention; Figure 3 This is a 600V peak voltage diagram provided by an embodiment of the present invention; Figure 4 is a graph of the actual output voltage of an embodiment of the present invention; Figure 5 This is a schematic diagram of the buck-boost main module of an embodiment of the present invention; Figure 6 is a circuit schematic diagram of an unmanned aerial vehicle according to an embodiment of the present invention; Figure 7 This is a flow chart of a DC power management method for a small unmanned aerial vehicle provided by an embodiment of the present invention; Figure 8 This is a flow chart of power supply sliding film control provided by an embodiment of the present invention; Figure 9 This is a test effect diagram of a DC power supply management method for a small unmanned aerial vehicle provided by an embodiment of the present invention; Figure 10 The present invention provides a schematic diagram of a DC power management device for a small unmanned aerial vehicle. DETAILED DESCRIPTION

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0018] like Figure 1 As shown, Figure 1 This is a structural diagram of a DC power management system for a small unmanned aerial vehicle (UAV) provided by an embodiment of the present invention. The UAV DC power management system includes a small generator and an auxiliary power supply circuit. The auxiliary power supply circuit includes a spike and overvoltage surge protection module, a boost charging module, an energy storage module, a discharge module, a buck-boost main module, and an output filter module. The spike and overvoltage surge protection module and the boost charging module serve as backup inputs for the buck-boost main module. The energy storage module is used to store electrical energy. The discharge module is used to release electrical energy from the energy storage module. The buck-boost main module is used to dynamically adjust the circuit voltage when the input voltage fluctuates within a preset threshold to maintain a stable output voltage at a standard voltage. The output filter module is used to filter and output the output voltage generated by the buck-boost main module.

[0019] In the embodiment of the present invention, the above-mentioned small generator can be understood as a small device that can convert mechanical energy into electrical energy. The small generator uses the engine to generate voltage, and then supplies power after voltage stabilization through the auxiliary power supply circuit.

[0020] The auxiliary power supply circuit is a backup power supply circuit for the aircraft, which is used to power the UAV when the main power supply is interrupted or undervoltage. The main power supply can be a UAV generator or a ground power supply.

[0021] The above-mentioned anti-spike and overvoltage surge module uses a combination of discharge tube P1100SB and transient suppression diode TVS to achieve peak voltage clamping and prevent damage to the subsequent circuit. When the peak voltage occurs, the discharge tube P1100SB will be turned on first, reducing the peak energy by discharging the large current, avoiding the instantaneous overvoltage from directly impacting the subsequent circuit. After the discharge tube is activated, the transient suppression diode TVS will quickly clamp the residual voltage to a safe range to ensure the stability of the output voltage. Figure 2 As shown, Figure 2 This is a peak voltage withstand circuit diagram provided by an embodiment of the present invention. Specifically, when a peak voltage occurs, a large current is first released through the discharge tube, and then the voltage is clamped by the transient suppression diode TVS. Figure 3 As shown, Figure 3 This is a 600V peak voltage diagram provided by an embodiment of the present invention. Specifically, the 600V peak voltage is a voltage curve displayed on an oscilloscope, and the peak time may be 5 microseconds. Figure 4 The graph shows the actual output voltage provided by an embodiment of the present invention. Specifically, when a sudden 600V spike in the input voltage is introduced, the discharge tube P1100SB conducts to discharge most of the current. The transient suppression diode (TVS) then clamps the voltage, significantly reducing the 600V spike. The actual output voltage remains essentially unchanged. The present invention employs an anti-spike and overvoltage surge module that reduces the spike through the discharge tube and transient suppression diode (TVS) to maintain the output voltage within the range of 28±0.5V.

[0022] The above-mentioned boost charging module can increase the low input voltage to a higher output voltage module, ensuring the stability of the power supply system and serving as a backup input for the buck-boost main module.

[0023] The energy storage module can be understood as a module for storing electrical energy, which can provide backup electrical energy when the main power supply fails or the voltage is too low.

[0024] The above-mentioned discharge module is used to release the electrical energy of the energy storage module.

[0025] The buck-boost main module is used to dynamically adjust the circuit voltage when the input voltage fluctuates within a preset threshold to maintain the output voltage at a stable standard output voltage. The preset threshold is the system's preset input voltage threshold, which can be a voltage threshold of 20V to 36V. The standard voltage is the system's set output voltage, which can be 28V.

[0026] The above-mentioned filtering output module is used to smooth and stabilize the voltage generated by the buck-boost main module, ensuring the stability and purity of the output voltage to meet the load requirements.

[0027] In an embodiment of the present invention, the engine of the unmanned aerial vehicle can be used to drive a small generator to generate an unstable voltage. The unstable voltage generated by the small generator is stabilized by the auxiliary power supply circuit to charge the battery and supply power to the electrical equipment. When the generator speed of the unmanned aerial vehicle is low, resulting in low generator voltage, the Li Tong battery supplies power to the electrical equipment, thereby greatly extending the flight time of the unmanned aerial vehicle. At the same time, the present invention also has lightning protection, overvoltage protection, power-off maintenance, etc.

[0028] It should be noted that after the main power supply circuit is powered off, the energy storage module releases electrical energy through the discharge module. When the input voltage fluctuates within the preset threshold, the output balance can be maintained through the buck-boost main module.

[0029] In one possible embodiment, when the aircraft generator or ground power supply is interrupted, the voltage of the generator or ground power supply is protected by the anti-spike and overvoltage surge module of the auxiliary power supply circuit, and then the power-off energy storage module is charged by the boost charging module as a backup input of the buck-boost main module. Then, it enters the input end of the buck-boost main module, and the buck-boost main module generates a stable 28V output voltage, which is filtered by the filter output module and output to supply power to the electrical equipment.

[0030] In another possible embodiment, after the aircraft generator or ground power supply is undervoltage, the input voltage passes through the anti-spike and overvoltage surge module of the auxiliary power supply circuit and directly enters the input end of the buck-boost main module. The buck-boost main module generates a stable 28V output voltage, which is filtered by the filter output module and then output to supply power to the electrical equipment.

[0031] In an embodiment of the present invention, when the aircraft generator or ground power supply is normal, the main power supply circuit supplies power and generates output. When the aircraft generator or ground power supply is powered off or undervoltage, the present invention rapidly releases the electrical energy of the energy storage module through the discharge module of the auxiliary power supply circuit to supply power to the main module. When the unmanned aircraft generator or ground power supply resumes power, on the one hand, the main power supply circuit resumes supplying power to the buck-boost main module, and on the other hand, it rapidly charges the energy storage module to prepare for the next power outage. The present invention utilizes the engine of the unmanned aircraft to drive a small large motor to generate an unstable voltage. The generated unstable voltage, after being stabilized by the present invention, can be used to charge the battery and supply power to electrical equipment. When the engine is at low speed, resulting in low voltage in the generator, the battery is used to supply power to the electrical equipment, thereby extending the drone's flight time. The present invention can realize automatic selection and seamless switching of the unmanned aircraft generator, battery and other power supply systems, realize stable output of the generator with large fluctuations, and realize battery charging management. The present invention can also maintain power supply for a short period of time when the generator loses power. It should be noted that the present invention also has lightning protection, overvoltage protection, power-off maintenance, etc. The present invention can provide power supply protection for electrical equipment such as aircraft inertial navigation and flight control, preventing lightning, spikes, and undervoltage from damaging expensive airborne equipment.

[0032] In this embodiment, the unmanned aerial vehicle includes an auxiliary power supply circuit that integrates a spike and overvoltage surge protection module, a boost charging module, an energy storage module, a discharge module, a buck-boost main module, and an output filter module. The spike and overvoltage surge protection module and the boost charging module serve as backup inputs for the buck-boost main module. The energy storage module is used to store electrical energy. The discharge module is used to release electrical energy from the energy storage module. The buck-boost main module is used to dynamically adjust the circuit voltage when the input voltage fluctuates within a preset threshold to maintain the output voltage stable at a standard output voltage. The output filter module is used to filter and output the output voltage generated by the buck-boost main module. The present invention solves the problem that existing battery power supply methods cannot meet the power needs of unmanned aerial vehicles with large loads, long flight distances, and an increasing number of power pods.

[0033] Optionally, the buck-boost main module adopts a SEPIC circuit to combine the buck circuit and the boost circuit to achieve a stable standard voltage output.

[0034] In the embodiment of the present invention, the above-mentioned SEPIC circuit combines the buck circuit (BUCK) and the boost circuit (BOOST), allowing the input voltage to be higher or lower than 28V. When the input voltage fluctuates between 20V and 36V, the SEPIC circuit combines the buck circuit (BUCK) and the boost circuit (BOOST) to achieve a stable 28V voltage output. Figure 5 As shown, Figure 5 This is a schematic diagram of the buck-boost main module in an embodiment of the present invention. Specifically, Q1, Q2, an inductor, and a capacitor form a buck circuit. When the input voltage is higher than the output voltage of 28V, the PWM control circuit adjusts the on-time of Q1 and Q2 to achieve a buck output. At this time, Q3 is always on and Q4 is off. Q3, Q4, an inductor, and a capacitor form a boost circuit. When the input voltage is lower than the output voltage of 28V, the PWM control circuit adjusts the on-time of Q3 and Q4 to achieve a boost output. At this time, Q1 is always on and Q2 is off. The SEPIC circuit combines the advantages of both a buck circuit and a boost circuit to maintain output stability when the input voltage fluctuates. In one possible embodiment, when MOS transistors Q5 and Q6 are in the on state, the battery E—L2—MOS transistor loop operates, and L1 and L2 store energy. When MOS transistor Q5 is off and Q6 is in the on state, the L2—Q6—load loop simultaneously conducts electricity. In this stage, E and L1 both supply power to the load and charge the capacitor. The energy stored in the capacitor is transferred to L2 when the MOS transistor is in the on state.

[0035] Optionally, in the buck-boost main module, the input voltage E With output voltage U The relationship between 0 is: When the input voltage E is greater than the preset standard voltage, When the input voltage E is lower than the preset standard voltage, in, , t on Indicates the input conduction time of the MOS tube, t off Indicates the turn-off time of the MOS tube.

[0036] In the embodiment of the present invention, the preset standard voltage is an output voltage preset by the system, which may be 28V.

[0037] When the input voltage E is greater than the preset standard voltage, the circuit works in the buck mode. .

[0038] When the input voltage E is lower than the preset standard voltage, the circuit works in the boost mode, and the output voltage is .

[0039] It should be noted that the buck-boost main module can adjust the MOS transistor's on-time based on the input voltage to stabilize the output voltage. In one possible embodiment, when the input voltage fluctuates between 20 and 36V, the output voltage of the present invention can be stabilized at 28V for a long period of time, while maintaining stable power output. Furthermore, by selecting MOS transistors with a current greater than 20A and an inductor power of 400W, the module's output power can be guaranteed to be no less than 280W.

[0040] like Figure 6 As shown, Figure 6This is a circuit schematic diagram of an unmanned aerial vehicle (UAV) provided by an embodiment of the present invention. Specifically, after the UAV generator or ground power passes through surge protection measures such as a parallel squib and transient suppression diode, it is divided into two paths by a current-limiting MOSFET Q9. One path passes through D4 and enters the buck-boost main module circuit consisting of Q1-Q4 and inductor L1. The other path passes through the boost module and D2 to charge the energy storage module, and then passes through the discharge module and D3 to enter the main module circuit. The output power is then output through a filter circuit consisting of C2, C3, and L3. When the input voltage switches from the ground power supply to the onboard generator, or when the generator suddenly loses power, the power from the energy storage module continues to provide a stable and uninterrupted power supply to the UAV through the discharge module and D3. When the input power is restored, the charging circuit charges the energy storage module, such as a battery. This present invention achieves uninterrupted UAV power switching and management. Q9 is a current-limiting MOSFET. When the power system is powered on, it prevents the energy storage module (battery or supercapacitor) from instantaneously drawing excessive starting current. Under the control of the controller, the starting current is limited. D2 is an anti-backflow diode, which prevents the electricity in the energy storage module from flowing back to the output end when the power is off.

[0041] In the embodiments of the present invention, the present invention can realize power supply conversion management of generators and batteries, lightning protection, anti-static, high-precision voltage stabilization, etc., and the present invention is small in size and high in power, which is very suitable for the requirements of unmanned aerial vehicles for power supply systems. It has significant effects on improving the safety of unmanned aerial vehicle electrical equipment and enabling unmanned aerial vehicle power consumption to break free from the limit of battery capacity, and has great prospects for promotion and application.

[0042] like Figure 7 As shown, Figure 7 1 is a flow chart of a method for managing a DC power supply for a small unmanned aerial vehicle provided by an embodiment of the present invention. The method for managing a DC power supply for a small unmanned aerial vehicle includes the following steps: 701. When the main power supply is interrupted or undervoltage occurs, power is supplied through the auxiliary power supply circuit, and the current input voltage is monitored in real time.

[0043] In an embodiment of the present invention, the above-mentioned unmanned aerial vehicle DC power supply management method can be applied to an unmanned aerial vehicle DC power supply management system. The unmanned aerial vehicle DC power supply management system includes a small generator and an auxiliary power supply circuit. The auxiliary power supply circuit is a backup power supply circuit. The above-mentioned auxiliary power supply circuit includes an anti-spike and overvoltage surge module, a boost charging module, an energy storage module, a discharge module, a buck-boost main module and an output filter module; the anti-spike and overvoltage surge module and the boost charging module serve as backup inputs of the buck-boost main module; the energy storage module is used to store electrical energy; the discharge module is used to release the electrical energy of the energy storage module; the buck-boost main module is used to dynamically adjust the circuit voltage when the input voltage fluctuates within a preset threshold to keep the output voltage stable at a standard voltage output; the output filter module is used to filter and output the output voltage generated by the buck-boost main module.

[0044] The main power supply interruption mentioned above can be understood as a temporary loss of power due to a fault or other reason. The undervoltage mentioned above can be understood as a voltage lower than the voltage required for normal operation of the equipment. The main power supply mentioned above can be a generator or ground power supply.

[0045] The auxiliary power supply circuit is a backup power supply circuit used to supply power to the equipment when the main power supply is interrupted or undervoltage.

[0046] It should be noted that when the main power supply is interrupted or undervoltage, the auxiliary power supply circuit can be used to provide power to the UAV to ensure the continuity and stability of the power supply. At the same time, the above-mentioned auxiliary power supply circuit will also monitor the current input voltage status in real time.

[0047] 702. When the current input voltage fluctuates within a preset threshold, the circuit voltage is dynamically adjusted through a sliding film control algorithm to maintain a stable output voltage within a preset standard voltage.

[0048] In the embodiment of the present invention, the preset threshold is an input voltage threshold preset by the system, and may be a voltage threshold of 20V to 36V.

[0049] The sliding film control algorithm is a nonlinear control strategy designed to handle system nonlinearities, disturbances, and modeling uncertainties. The core concept of the sliding film control algorithm is to achieve system stability and desired dynamic performance by designing a sliding surface along which the system state slides.

[0050] The above-mentioned preset standard voltage is the output voltage preset by the system, which may be 28V.

[0051] In a possible embodiment, when the current input voltage fluctuates between 20V and 36V, a stable 28V standard output voltage can be achieved through a sliding film control algorithm.

[0052] 703. After the main power supply input voltage is restored, switch back to the main power supply mode and replenish power for the energy storage module.

[0053] In an embodiment of the present invention, when the main power supply is restored, the main power supply mode is switched back to and the energy storage module of the auxiliary power supply circuit is charged to prepare for energy storage for the next power failure.

[0054] In an embodiment of the present invention, when the main power supply is interrupted or undervoltage occurs, power is supplied through an auxiliary power supply circuit, and the current input voltage is monitored in real time. When the current input voltage fluctuates within a preset threshold, the circuit voltage is dynamically adjusted using a sliding membrane control algorithm to maintain a stable output voltage within a preset standard voltage. After the main power supply input voltage is restored, the circuit switches back to the main power supply mode and replenishes power to the energy storage module. This invention solves the problem that battery power supply methods cannot meet the power needs of unmanned aerial vehicles with large loads, long flight distances, and an increasing number of power pods.

[0055] Optionally, in the step of dynamically adjusting the circuit voltage through the sliding film control algorithm to keep the output voltage stable within the preset standard voltage, the output voltage corresponding to the current input voltage can be collected through the sliding film control algorithm; based on the output voltage, the voltage error value is calculated; the second-order sliding film surface is designed, and the sign of the second-order sliding film surface is determined; according to the sign of the second-order sliding film surface, the circuit voltage is dynamically adjusted to keep the output voltage stable within the preset standard voltage.

[0056] In an embodiment of the present invention, the sliding film control algorithm is a nonlinear control strategy primarily used to address system nonlinearities, disturbances, and modeling uncertainties. The core concept of the sliding film control algorithm is to achieve system stability and desired dynamic performance by designing a sliding surface on which the system state slides. In the present invention, the sliding film control algorithm is used to ensure that the output voltage remains on the "sliding film surface" of the standard voltage. Based on Lyapunov stability, the sliding film control algorithm designs a second-order sliding surface and dynamically adjusts the duty cycle to achieve high-precision voltage regulation (±0.5V).

[0057] The voltage error value mentioned above can be understood as an error value obtained by comparing the output voltage corresponding to the current input voltage with the standard output voltage.

[0058] The above second-order sliding surface can be understood as a mathematical plane for controlling the system. By designing the sliding surface, the system state can be made to slide along the sliding surface to the desired state. By designing the sliding surface, high-performance control of the system under dynamic uncertainty and external disturbances can be achieved. The second-order sliding surface is achieved by designing a sliding function S When the system's state variables are controlled to lie on this second-order sliding film surface, ideally, they will automatically "slide" to the origin (0,0) without requiring additional control. During the control process, by adjusting the parameters of the sliding film surface, the system state can be precisely controlled to achieve the desired performance. This second-order sliding film surface ensures that the system state slides to the origin on the phase plane, thereby stabilizing the output voltage.

[0059] The sign of the second-order sliding surface can be understood as designing a sliding surface function and using the sign function to determine the sign of the sliding surface. The sign of the second-order sliding surface helps guide the control strategy and ensure that the system state slides stably on the sliding surface.

[0060] The above-mentioned preset standard voltage is the standard output voltage preset by the system, which may be 28V.

[0061] The above-mentioned dynamic adjustment can be understood as a process of flexibly adjusting the output voltage according to real-time conditions or environmental changes to ensure that the output voltage is stably output within a preset standard output voltage.

[0062] Specifically, a sliding film control algorithm is used to collect the output voltage corresponding to the input voltage, compare it with a preset standard voltage, and calculate the difference between the two, namely the voltage error value. A second-order sliding film surface is then designed and its sign is determined. The voltage in the circuit is dynamically adjusted based on the sign of the second-order sliding film surface, ensuring that the output voltage always remains within the preset standard voltage range. This is true even if the input voltage changes or there are other disturbances.

[0063] It should be noted that the present invention uses a sliding film control algorithm to accurately adjust the voltage in the circuit to ensure the stability and accuracy of the output voltage.

[0064] Optionally, the synovial control algorithm includes: Establish the power output state equation: in: V in Indicates the input voltage, Vout Indicates the output voltage, I L represents the inductor current, D represents the duty cycle, L represents inductance, C represents capacitance, R represents the load resistance, and t represents the time.

[0065] In the embodiment of the present invention, the above-mentioned input voltage can be understood as the input voltage of the power supply.

[0066] The above output voltage can be understood as the output voltage after the input voltage is processed by the circuit.

[0067] The above-mentioned inductor current can be understood as the current flowing through the inductor element, and the inductor current is used to store and release energy.

[0068] The duty cycle can be understood as the ratio of the time the MOSFET is on to the total length of the cycle. For example, if a switching cycle is 1ms, and the switch is on for 0.5ms within that 1ms cycle, the duty cycle is 50%.

[0069] The inductor can be understood as a component that stores energy and releases it when needed, thereby smoothing the output voltage and current. For example, the inductor can store energy from the input voltage and release this energy when the switch is turned off to maintain a stable output voltage.

[0070] The above-mentioned capacitors can be understood as components that store charge and release the charge when needed, and are used to filter out noise and stabilize voltage and current.

[0071] The above load resistance can be understood as the equivalent resistance of the load device connected to the power supply.

[0072] Optionally, the voltage error value is defined as ,in Indicates the standard output voltage, Indicates the current output voltage.

[0073] In the embodiment of the present invention, the voltage error value is an error value obtained by comparing the current output voltage with the standard output voltage.

[0074] In a possible embodiment, if the current output voltage is 26V and the target voltage is 28V, the voltage error value is 2V; if the current output voltage is 32V and the target voltage is 28V, the voltage error value is -4V.

[0075] Alternatively, the formula for the second-order synovial surface is: + in, Indicates the voltage error value, represents the rate of change of error, Indicates the acceleration of error change.

[0076] In the embodiment of the present invention, the above Indicates the voltage error value, which can be understood as the difference between the preset standard output voltage and the current output voltage.

[0077] Among the above, It represents the rate of change of the error. The rate of change of the error can predict the future trend of the error, for example, whether the error is accelerating or decelerating.

[0078] above The acceleration of error change can capture the dynamic characteristics of the system (such as inertia or oscillation) and suppress high-frequency disturbances.

[0079] Optionally, in the step of dynamically adjusting the circuit voltage according to the sign of the sliding surface, when the sign of the sliding surface S When greater than 0, the trajectory is forced to converge to the sliding surface , forcing the duty cycle to be equal to 1; when the sign of the sliding membrane surface S When it is less than 0, it is forced to converge to the sliding surface in the opposite direction. , force the duty cycle to be equal to 0; when the symbol S of the sliding surface is equal to 0, the equivalent duty cycle is used , maintain steady state.

[0080] In the embodiment of the present invention, when the sign S of the synovial surface is greater than 0, the trajectory is forced to converge to the synovial surface, so that , forcing the duty cycle to be equal to 1, so that the trend of the system state change is to move closer to the synovial surface.

[0081] When the symbol S of the sliding surface is less than 0, the trend of the system state is to move away from the sliding surface and move closer to it, forcing the reverse convergence to make the sliding surface , forcing the duty cycle to be equal to 0.

[0082] When the symbol S of the synovial surface is equal to 0, it can be understood that the system state is very close to or on the synovial surface. In order to maintain steady state, the equivalent duty cycle can be used when the symbol S of the synovial surface is equal to 0. ,in V in Indicates the input voltage, V out Indicates the output voltage, L is the inductor, Indicates the rate of change of the inductor current.

[0083] like Figure 8 As shown, Figure 8 This is a flow chart of the power supply sliding film control provided by an embodiment of the present invention. Specifically, it includes the following steps: 800. Start.

[0084] 801. Collect state variables: output voltage Vout.

[0085] Among them, the power output state equation is established: in: V in Indicates the input voltage, Vout Indicates the output voltage, I L represents the inductor current, D represents the duty cycle, L represents inductance, C represents capacitance, Rrepresents the load resistance, and t represents the time.

[0086] 802. Calculation Error .

[0087] in, Indicates the standard output voltage, Indicates the current output voltage.

[0088] 803. Design of synovial surface: .

[0089] Among them, the above Indicates the voltage error value. Indicates the rate of change of error.

[0090] 804. Determine the synovial surface S symbol.

[0091] 805. Switching control signal: duty cycle D=1.

[0092] in, S When >0, the trajectory is forced to converge to the sliding surface , forcing the duty cycle to be equal to 1.

[0093] 806. Switching control signal: duty cycle D=0.

[0094] in, S When <0, force reverse convergence to the sliding surface , forcing the duty cycle to be equal to 0.

[0095] 807. Drive the switch tube to operate.

[0096] 808. Update system status.

[0097] In this embodiment of the present invention, after the main power supply circuit loses power, the energy stored in the energy storage module is released through the discharge module, causing significant input fluctuations. However, under these conditions, the power module uses a control algorithm to achieve high-precision voltage regulation. This control algorithm can quickly respond to input disturbances, suppress output ripple, and maintain dynamic stability.

[0098] like Figure 9 As shown, Figure 9 This is a test effect diagram of a DC power management method for a small unmanned aerial vehicle provided by an embodiment of the present invention. Specifically, the present invention can be applied to aviation module power supply bottles, Figure 7 In the curve with a 50ms disconnection interruption, the input voltage may be a 50ms power outage. The aviation module power supply bottle adopts the present invention to stabilize the output within the range of 28±0.5V during a sudden power outage of the power input, thereby meeting the requirements of the aviation power module power supply bottle.

[0099] like Figure 10 As shown, an embodiment of the present invention provides a small unmanned aerial vehicle DC power management device, the unmanned aerial vehicle DC power management device comprising: The monitoring module 1001 is used to supply power through the auxiliary power supply circuit when the main power supply is interrupted or undervoltage occurs, and to monitor the current input voltage in real time; The regulating module 2002 is configured to dynamically regulate the circuit voltage by using a sliding film control algorithm when the current input voltage fluctuates within a preset threshold value, so as to maintain a stable output voltage within a preset standard voltage; The switching module 1003 is used to switch back to the main power supply mode after the main power supply input voltage is restored, and to replenish power for the energy storage battery.

[0100] Optionally, the regulation module 1002 is also used to collect the output voltage corresponding to the current input voltage through a sliding film control algorithm; calculate the voltage error value based on the output voltage; design a second-order sliding film surface and determine the sign of the second-order sliding film surface; and dynamically adjust the circuit voltage according to the sign of the second-order sliding film surface to keep the output voltage stable within a preset standard voltage.

[0101] Optionally, the synovial membrane control algorithm includes: Establish the power output state equation: in: V in Indicates the input voltage, Vout Indicates the output voltage, I L represents the inductor current, D represents the duty cycle, L represents inductance, C represents capacitance, R represents the load resistance, and t represents the time.

[0102] Optionally, the voltage error value is defined as ,in Indicates the standard output voltage, Indicates the current output voltage.

[0103] Optionally, the formula for the second-order synovial surface is: + in, Indicates the voltage error value, represents the rate of change of error, Indicates the acceleration of error change.

[0104] Optionally, the adjustment module 1002 is also used when the symbol of the synovial surfaceS When greater than 0, the trajectory is forced to converge to the sliding surface , forcing the duty cycle to be equal to 1; when the sign of the sliding membrane surface S When it is less than 0, it is forced to converge to the sliding surface in the opposite direction. , forcing the duty cycle to be equal to 0; when the sign of the sliding membrane surface S When it is equal to 0, the equivalent duty cycle is used , maintain steady state.

[0105] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium, and when executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0106] The above disclosure is merely a preferred embodiment of the present invention and certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A DC power supply management method for a small unmanned aerial vehicle, characterized in that: The unmanned aerial vehicle DC power supply management method is applied to an unmanned aerial vehicle DC power supply management system, wherein the unmanned aerial vehicle DC power supply management system includes a small generator and an auxiliary power supply circuit, wherein the auxiliary power supply circuit is a backup power supply circuit. The method includes the following steps: When the main power supply is interrupted or undervoltage occurs, power is supplied through the auxiliary power supply circuit and the current input voltage is monitored in real time; When the current input voltage fluctuates within a preset threshold, the circuit voltage is dynamically adjusted through a sliding film control algorithm to maintain a stable output voltage within a preset standard; After the main power supply input voltage is restored, it switches back to the main power supply mode and replenishes power for the energy storage module.

2. The DC power management method for a small unmanned aerial vehicle according to claim 1, wherein: The circuit voltage is dynamically adjusted by the sliding film control algorithm to maintain a stable output voltage within a preset standard voltage, including: Acquiring the output voltage corresponding to the current input voltage through a sliding membrane control algorithm; Calculating a voltage error value based on the output voltage; designing a second-order synovial surface and determining a sign of the second-order synovial surface; According to the sign of the second-order sliding film surface, the circuit voltage is dynamically adjusted to keep the output voltage stable within a preset standard voltage.

3. The DC power management method for a small unmanned aerial vehicle according to claim 2, wherein: The synovial control algorithm includes: Establish the power output state equation: in: V in Indicates the input voltage, Vout Indicates the output voltage, I L represents the inductor current, D represents the duty cycle, L represents inductance, C represents capacitance, R represents the load resistance, and t represents the time.

4. The DC power management method for a small unmanned aerial vehicle according to claim 3, wherein: The voltage error value is defined as ,in Indicates the standard output voltage, Indicates the current output voltage.

5. The DC power management method for a small unmanned aerial vehicle according to claim 4, wherein: The formula of the second-order synovial surface is: + in, Indicates the voltage error value, represents the rate of change of error, Indicates the acceleration of error change.

6. The DC power management method for a small unmanned aerial vehicle according to claim 5, wherein: The dynamically adjusting the circuit voltage according to the sign of the sliding membrane surface includes: When the synovial surface symbol S When greater than 0, the trajectory is forced to converge to the sliding surface , forcing the duty cycle to be equal to 1; When the synovial surface symbol S When it is less than 0, it is forced to converge to the sliding surface in the opposite direction. , force the duty cycle to be equal to 0; When the synovial surface symbol S When it is equal to 0, the equivalent duty cycle is used , maintain steady state.

7. A small unmanned aerial vehicle DC power management device, characterized in that: The device comprises: A monitoring module is used to supply power through the auxiliary power supply circuit when the main power supply is interrupted or undervoltage occurs, and to monitor the current input voltage in real time; A regulating module, configured to dynamically regulate the circuit voltage by using a sliding film control algorithm when the current input voltage fluctuates within a preset threshold value, so as to maintain a stable output voltage within a preset standard voltage; The switching module is used to switch back to the main power supply mode after the main power supply input voltage is restored and replenish power for the energy storage module.

8. A small unmanned aerial vehicle DC power management system, characterized in that: The unmanned aerial vehicle DC power management system includes a small generator and an auxiliary power supply circuit. The power supply circuit includes a spike protection and overvoltage surge module, a boost charging module, an energy storage module, a discharge module, a buck-boost main module, and an output filter module. The boost charging module and the discharge module serve as backup inputs for the buck-boost main module. The energy storage module is used to store electrical energy. The discharge module is used to release the electrical energy of the energy storage module. The buck-boost main module is used to dynamically adjust the circuit voltage when the input voltage fluctuates within a preset threshold to keep the output voltage stable at a standard voltage output. The output filter module is used to filter and output the output voltage generated by the buck-boost main module.

9. The system according to claim 8, wherein The buck-boost main module adopts a SEPIC circuit, combining a buck circuit and a boost circuit to achieve a stable standard voltage output.

10. The system according to claim 9, wherein: In the buck-boost main module, the relationship between the input voltage E and the output voltage U0 is: When the input voltage E is greater than the preset standard voltage, When the input voltage E is lower than the preset standard voltage, in, , t on Indicates the input conduction time of the MOS tube, t off Indicates the turn-off time of the MOS tube.

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