A power control method and related device of a compound wing unmanned aerial vehicle

Abstract

The application discloses a power control method and related device of a compound wing unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles.The method comprises the following steps: after the compound wing unmanned aerial vehicle takes off, the compound wing unmanned aerial vehicle receives a mode control instruction sent by a flight control terminal, wherein the mode control instruction comprises a fixed-wing flight mode and a vertical flight mode; when the mode control instruction received by the compound wing unmanned aerial vehicle is the fixed-wing flight mode, the power condition met by the current battery capacity of the compound wing unmanned aerial vehicle is matched, and the flight envelope and the engine speed of the compound wing unmanned aerial vehicle are determined; when the mode control instruction received by the compound wing unmanned aerial vehicle is the vertical flight mode, the engine speed of the compound wing unmanned aerial vehicle is adjusted to the maximum speed, the countdown of the vertical flight mode is determined, and a transition flight route is planned when the countdown of the vertical flight mode reaches a preset threshold.The power control of the compound wing unmanned aerial vehicle reaches a more ideal effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a power control method for a compound-wing unmanned aerial vehicle and related devices. BACKGROUND

[0002] A compound wing refers to a layout configuration using multiple rotors to obtain lift in the vertical take-off and landing stage and using a propulsion paddle + fixed wing to obtain lift in the cruising stage. The compound-wing unmanned aerial vehicle has a large demand for electric energy in the vertical take-off and landing and transition flight stages, but has a small demand for electric energy in the cruising stage. The demand for electric energy in the cruising stage is only about 1 / 10 of that in the vertical take-off and landing stage.

[0003] In order to improve the endurance performance of the compound-wing unmanned aerial vehicle, a hybrid power mode is generally used to improve the energy density of the on-board energy, that is, a high-energy-density chemical fuel is used as a main energy source, an engine and a generator and their accessories are used to convert chemical energy into electric energy, and an electric governor, an electric motor and a propeller are used to convert electric energy into mechanical energy to provide lift and thrust for the unmanned aerial vehicle.

[0004] The architecture and power control method of the hybrid power system play a decisive role in the key performance indicators of the whole machine, namely safety, payload ratio and endurance performance. In order to improve safety, the current industry generally uses the scheme of increasing battery capacity and increasing hybrid charging power to improve the energy safety margin of the unmanned aerial vehicle, but this scheme will directly reduce the payload ratio and endurance performance of the unmanned aerial vehicle. At the same time, the power control of the existing scheme usually takes the current electric quantity state of charge as the input, and the power control model is too simple to meet the needs of multiple flight modes of the compound-wing unmanned aerial vehicle. How to improve the payload ratio and endurance performance of the unmanned aerial vehicle while ensuring the energy safety margin of the unmanned aerial vehicle is a major problem faced by the current unmanned aerial vehicle design field. SUMMARY

[0005] The present application aims to overcome the shortcomings of the prior art, and provides a power control method for a compound-wing unmanned aerial vehicle and related devices, which improves the payload ratio and endurance performance of the unmanned aerial vehicle while ensuring the energy safety margin of the compound-wing unmanned aerial vehicle.

[0006] In order to solve the above technical problems, the present application provides a power control method for a compound-wing unmanned aerial vehicle, which comprises:

[0007] After the compound-wing unmanned aerial vehicle takes off, the compound-wing unmanned aerial vehicle receives a mode control instruction sent by a flight control terminal, and the mode control instruction comprises a fixed-wing flight mode and a vertical flight mode.

[0008] When the mode control instruction received by the compound wing unmanned aerial vehicle is the fixed wing flight mode, a power condition satisfied by a current battery capacity of the compound wing unmanned aerial vehicle is matched, and a flight envelope and an engine rotating speed of the compound wing unmanned aerial vehicle are determined;

[0009] When the mode control instruction received by the compound wing unmanned aerial vehicle is the vertical flight mode, the engine rotating speed of the compound wing unmanned aerial vehicle is adjusted to a maximum rotating speed, a countdown time of the vertical flight mode is determined, when the countdown time of the vertical flight mode reaches a preset threshold, a transition flight route is planned, the transition flight route is a transition route from the vertical flight mode to the fixed wing flight mode, and the countdown time of the vertical flight mode is used to limit a duration of the vertical flight mode.

[0010] Optionally, the method further comprises:

[0011] Before the compound wing unmanned aerial vehicle takes off, whether the compound wing unmanned aerial vehicle is in a no-fly condition is judged, if it is judged that the compound wing unmanned aerial vehicle is in the no-fly condition, the engine drives the take-off and launch integrated generator to charge the battery, and an expression of the no-fly condition is:

[0012] ,

[0013] wherein k is a power safety margin coefficient, is a full battery capacity, is a vertical take-off height, is a maximum vertical landing speed, is a vertical take-off and landing rate, is a hovering power consumption, is a maximum charging power, is a current battery capacity.

[0014] Optionally, the matching of the power condition satisfied by the current battery capacity of the compound wing unmanned aerial vehicle and the determination of the flight envelope and the engine rotating speed of the compound wing unmanned aerial vehicle comprise:

[0015] When the current battery capacity of the compound wing unmanned aerial vehicle satisfies a first power condition, the engine rotating speed of the compound wing unmanned aerial vehicle is adjusted to a first rotating speed, and a first limited flight envelope is determined;

[0016] When the current battery capacity of the compound wing unmanned aerial vehicle satisfies a second power condition, the engine rotating speed of the compound wing unmanned aerial vehicle is adjusted to a second rotating speed, and a second limited flight envelope is determined;

[0017] When the current battery capacity of the compound wing unmanned aerial vehicle satisfies a third power condition, the engine rotating speed of the compound wing unmanned aerial vehicle is adjusted to a third rotating speed, and a third limited flight envelope is determined;

[0018] When the current battery power of the compound wing unmanned plane meets the fourth power condition, the engine speed of the compound wing unmanned plane is adjusted to the fourth speed, and the fourth limited flight envelope is determined.

[0019] Optionally, when the current battery power of the compound wing unmanned plane meets the first power condition, the engine speed of the compound wing unmanned plane is adjusted to the first speed, and the first limited flight envelope is determined, including:

[0020] When the current battery power of the compound wing unmanned plane meets , the engine speed of the compound wing unmanned plane is adjusted to idle speed, and the flight envelope of the flight mode switching and the fixed wing flight mode without limitation is determined, wherein the is the current battery power, is the full battery power.

[0021] Optionally, when the current battery power of the compound wing unmanned plane meets the second power condition, the engine speed of the compound wing unmanned plane is adjusted to the second speed, and the second limited flight envelope is determined, including:

[0022] When the current battery power of the compound wing unmanned plane meets , the engine speed of the compound wing unmanned plane is adjusted to the economic speed, and the flight envelope of the flight mode switching and the fixed wing flight mode without limitation is determined, wherein the is the current battery power, is the full battery power, k is the power safety margin coefficient, is the current landing route minimum termination height, is the maximum vertical landing speed, is the hovering power consumption.

[0023] Optionally, when the current battery power of the compound wing unmanned plane meets the third power condition, the engine speed of the compound wing unmanned plane is adjusted to the third speed, and the third limited flight envelope is determined, including:

[0024] When the current battery power of the compound wing unmanned plane meets , the engine speed of the compound wing unmanned plane is adjusted to the maximum speed, the compound wing unmanned plane is limited to switch from the fixed wing flight mode to the vertical flight mode, and the flight envelope of the fixed wing flight mode without limitation is determined, wherein k is the power safety margin coefficient, is the full battery power, is the current landing route minimum termination height, is the maximum vertical landing speed, is the hovering power consumption, is the current battery power.

[0025] Optionally, when the current battery power of the compound wing unmanned plane meets the fourth power condition, the engine speed of the compound wing unmanned plane is adjusted to the fourth speed, and the fourth limited flight envelope is determined, including:

[0026] When the current battery power of the compound wing unmanned plane meets , the engine speed of the compound wing unmanned plane is adjusted to the maximum speed, the compound wing unmanned plane is limited to switch from the fixed wing flight mode to the hovering flight mode, the flight speed of the fixed wing flight mode is limited to the economic cruise speed, and the target climbing rate of the compound wing unmanned plane is set to zero, wherein k is a power safety margin coefficient, is the full battery power, is the current landing route minimum termination height, is the maximum vertical landing speed, is the hovering power consumption, is the current battery power.

[0027] Optionally, the calculation formula of the countdown time of the vertical flight mode is:

[0028] ,

[0029] wherein, is the countdown time, is the current battery power, and k is a power safety margin coefficient, is the full battery power, is the hovering power consumption, is the maximum charging power, is the typical transition flight time.

[0030] In addition, the present application also provides a power control device of a compound wing unmanned plane, the device comprising:

[0031] Mode control module: for receiving the mode control instruction sent by the flight control terminal after the compound wing unmanned plane takes off, the mode control instruction including the fixed wing flight mode and the vertical flight mode;

[0032] The first power control module is used for matching the power condition met by the current battery power of the compound wing unmanned plane when the mode control instruction received by the compound wing unmanned plane is the fixed wing flight mode, and determining the flight envelope and the engine speed of the compound wing unmanned plane;

[0033] The second power control module is configured to adjust the engine speed of the compound wing unmanned aerial vehicle to the maximum speed when the mode control instruction received by the compound wing unmanned aerial vehicle is the vertical flight mode, determine the countdown of the vertical flight mode, plan a transition flight route when the countdown of the vertical flight mode reaches a preset threshold, and the transition flight route is a transition route from the vertical flight mode to the fixed wing flight mode, and the countdown of the vertical flight mode is used to limit the duration of the vertical flight mode.

[0034] In addition, the application further provides a hybrid power system of a compound wing unmanned aerial vehicle, which comprises a start-generating integrated generator, a fuel engine, a battery, a flight control computer, a lift propeller group and a thrust propeller group, and is configured to execute the power control method of the compound wing unmanned aerial vehicle.

[0035] In the embodiment of the application, by analyzing different flight modes and different power conditions of the compound wing unmanned aerial vehicle, the running speed of the engine of the compound wing unmanned aerial vehicle is adjusted to different speeds and different limited flight envelopes, which can meet the needs of different flight modes of the compound wing unmanned aerial vehicle, limit the power consumption when the power safety margin is small, and increase the charging power for a short time, so as to ensure sufficient power safety margin, relax the power consumption limit and use economic charging power when the power safety margin is sufficient, so as to ensure the endurance of the unmanned aerial vehicle, form a power control rate suitable for the compound wing unmanned aerial vehicle, improve the payload ratio and endurance performance of the unmanned aerial vehicle without affecting the flight safety, and make the power control of the compound wing unmanned aerial vehicle achieve a more ideal effect. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0037] Figure 1 is a flowchart of the power control method of the compound wing unmanned aerial vehicle in the embodiment of the application;

[0038] Figure 2 is a flowchart of the power control method of the compound wing unmanned aerial vehicle in another embodiment of the application;

[0039] Figure 3 is a structural composition diagram of the hybrid power system of the compound wing unmanned aerial vehicle in the embodiment of the application;

[0040] Figure 4 is a structural composition diagram of the power control device of the compound wing unmanned aerial vehicle in the embodiment of the application;

[0041] Figure 5 is the architecture schematic diagram of the hybrid power system of the compound wing unmanned aerial vehicle in the embodiment of the present application. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0043] Embodiment one

[0044] Please refer to Figure 1 , Figure 1 is the flowchart of the power control method of the compound wing unmanned aerial vehicle in the embodiment of the present application, and the method comprises the following steps:

[0045] S01: After the compound wing unmanned aerial vehicle takes off, the compound wing unmanned aerial vehicle receives the mode control instruction sent by the flight control terminal, and the mode control instruction comprises a fixed-wing flight mode and a vertical flight mode;

[0046] In the specific implementation process of the present application, this case is the scene of taking off to a certain height by the compound wing unmanned aerial vehicle. When the compound wing unmanned aerial vehicle flies, the flight control terminal transmits the selected mode control instruction to the compound wing unmanned aerial vehicle. The mode control instruction comprises a fixed-wing flight mode and a vertical flight mode. The compound wing unmanned aerial vehicle receives the mode control instruction to control the power in different modes.

[0047] S02: When the mode control instruction received by the compound wing unmanned aerial vehicle is the fixed-wing flight mode, the power condition satisfied by the current battery capacity of the compound wing unmanned aerial vehicle is matched, and the flight envelope and engine speed of the compound wing unmanned aerial vehicle are determined;

[0048] In the implementation of the present application, the matching power condition satisfied by the current battery capacity of the compound wing unmanned aerial vehicle, and the determination of the flight envelope and engine speed of the compound wing unmanned aerial vehicle, comprises: when the current battery capacity of the compound wing unmanned aerial vehicle satisfies the first power condition, adjusting the engine speed of the compound wing unmanned aerial vehicle to the first speed, determining the first limited flight envelope; when the current battery capacity of the compound wing unmanned aerial vehicle satisfies the second power condition, adjusting the engine speed of the compound wing unmanned aerial vehicle to the second speed, determining the second limited flight envelope; when the current battery capacity of the compound wing unmanned aerial vehicle satisfies the third power condition, adjusting the engine speed of the compound wing unmanned aerial vehicle to the third speed, determining the third limited flight envelope; when the current battery capacity of the compound wing unmanned aerial vehicle satisfies the fourth power condition, adjusting the engine speed of the compound wing unmanned aerial vehicle to the fourth speed, determining the fourth limited flight envelope.

[0049] Further, when the current battery capacity of the compound wing unmanned aerial vehicle satisfies the first power condition, adjusting the engine speed of the compound wing unmanned aerial vehicle to the first speed, determining the first limited flight envelope, comprises: when the current battery capacity of the compound wing unmanned aerial vehicle satisfies , adjusting the engine speed of the compound wing unmanned aerial vehicle to the idle speed, determining the flight envelope without limiting the flight mode switching and the fixed wing flight mode, wherein the is the current battery capacity, is the full battery capacity.

[0050] Further, when the current battery capacity of the compound wing unmanned aerial vehicle satisfies the second power condition, adjusting the engine speed of the compound wing unmanned aerial vehicle to the second speed, determining the second limited flight envelope, comprises: when the current battery capacity of the compound wing unmanned aerial vehicle satisfies , adjusting the engine speed of the compound wing unmanned aerial vehicle to the economic speed, determining the flight envelope without limiting the flight mode switching and the fixed wing flight mode, wherein the is the current battery capacity, is the full battery capacity, k is the power safety margin coefficient, is the current landing route minimum termination height, is the maximum vertical landing speed, is the hovering power consumption.

[0051] Further, when the current battery capacity of the compound wing unmanned aerial vehicle satisfies the third power condition, adjusting the engine speed of the compound wing unmanned aerial vehicle to the third speed, determining the third limited flight envelope, comprises: when the current battery capacity of the compound wing unmanned aerial vehicle satisfies , adjusting the engine speed of the compound wing unmanned aerial vehicle to the maximum speed, limiting the compound wing unmanned aerial vehicle from switching from the fixed wing flight mode to the vertical flight mode, and not limiting the flight envelope of the fixed wing flight mode, wherein k is the power safety margin coefficient, is a full battery capacity, is a current landing route minimum end height, is a maximum vertical descent speed, is a hover power consumption, is a current battery capacity.

[0052] Further, when the current battery capacity of the compound wing unmanned aerial vehicle meets the fourth power condition, the engine speed of the compound wing unmanned aerial vehicle is adjusted to the fourth speed, and a fourth limited flight envelope is determined, including: when the current battery capacity of the compound wing unmanned aerial vehicle meets , the engine speed of the compound wing unmanned aerial vehicle is adjusted to the maximum speed, the compound wing unmanned aerial vehicle is limited to switch from the fixed wing flight mode to the hover flight mode, the flight speed of the fixed wing flight mode is limited to the economic cruise speed, and the target climb rate of the compound wing unmanned aerial vehicle is set to zero, wherein k is a battery capacity safety margin coefficient, is a full battery capacity, is a current landing route minimum end height, is a maximum vertical descent speed, is a hover power consumption, is a current battery capacity.

[0053] Specifically, when the compound wing unmanned aerial vehicle is in the fixed wing flight mode and the current battery capacity meets the first power condition during the flight of the compound wing unmanned aerial vehicle, the fixed wing flight mode provides the flight power of the unmanned aerial vehicle for the fixed wing assembly, the first power condition is , the running speed of the engine of the compound wing unmanned aerial vehicle is controlled to idle speed, and the idle speed of the unmanned aerial vehicle refers to the state that the engine runs at the lowest stable speed in the empty state, wherein the is a current battery capacity, is a full battery capacity, and the flight envelope of the unmanned aerial vehicle is determined without limiting the flight mode switching and the flight envelope of the fixed wing flight mode, the flight envelope of the unmanned aerial vehicle is a closed geometric figure defined by taking flight speed, height, overload and other parameters as coordinates, which represents the parameter range of safe operation under the task environment and task conditions. 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[0054] S03: When the mode control instruction received by the compound wing unmanned aerial vehicle is the vertical flight mode, adjust the engine speed of the compound wing unmanned aerial vehicle to the maximum speed, determine the countdown of the vertical flight mode, when the countdown of the vertical flight mode reaches the preset threshold, plan a transition flight route, the transition flight route is a transition route from the vertical flight mode to the fixed wing flight mode, and the countdown of the vertical flight mode is used to limit the duration of the vertical flight mode.

[0055] In the specific implementation process of the present application, the calculation formula of the countdown of the vertical flight mode is:

[0056] ,

[0057] wherein, is the countdown, is the current battery power, k is the power safety margin coefficient, is the full battery power, is the hover power consumption, is the maximum charging power, is the typical transition flight time.

[0058] Specifically, when the compound wing unmanned aerial vehicle is in the vertical flight mode, the running speed of the engine of the compound wing unmanned aerial vehicle is adjusted to the fifth rotating speed, that is, the engine is operated at the maximum rotating speed, the duration of the vertical flight mode is limited, and a countdown progress bar is prompted to the pilot. The countdown of the vertical flight mode is used to limit the duration of the vertical flight mode. The calculation formula of the countdown of the vertical flight mode is:

[0059] ,

[0060] wherein, is the countdown, is the current battery power, k is the power safety margin coefficient, is the full battery power, is the hover power consumption, is the maximum charging power, is the typical transition flight time. When the countdown reaches a preset threshold, which can be set to 10s, a transition flight route is automatically planned. When the countdown of the vertical flight mode reaches the preset threshold, planning the transition flight route can effectively save the power consumption of the compound wing unmanned aerial vehicle. The transition flight route is a transition route from the vertical flight mode to the fixed-wing flight mode. The endpoint of the transition section and the current position of the compound wing unmanned aerial vehicle are obtained. The start direction and the end direction of the transition section are analyzed. The change of the heading angle before and after the transition is calculated. The distance from the transition starting point to the route point is calculated according to the change of the heading angle before and after the transition. The arc center of the transition section is calculated. The transition flight route is planned according to the start direction, the end direction, the change of the heading angle, the distance from the transition starting point to the route point, and the arc center of the transition section. The final transition flight route is obtained, and the pilot is prompted. The prior art only implements control of the power generation end, such as control of the engine rotating speed and control of the charging power. The power consumption characteristics of the compound wing unmanned aerial vehicle are not used to provide flight envelope restrictions. Therefore, the requirement for the output power of the engine is increased, which is not conducive to the payload ratio and economic indicators of the whole machine. Therefore, by judging different flight modes and different power conditions of the compound wing unmanned aerial vehicle, the running speed of the engine of the compound wing unmanned aerial vehicle is adjusted to different rotating speeds and different restricted flight envelopes, which can effectively improve the payload ratio and endurance performance of the unmanned aerial vehicle.

[0061] In the flight process of the compound wing unmanned aerial vehicle, if an emergency occurs and emergency landing is required or the power system fails to generate power, the compound wing unmanned aerial vehicle is controlled to land in a dive attitude, and the thrust or pull motor direct-drive propeller is controlled to enter the windmill power generation mode to provide deceleration resistance and power supply to the key control system, so as to ensure that the unmanned aerial vehicle can be controlled to land and reduce the safety impact.

[0062] In the embodiment of the application, by analyzing different flight modes and different power conditions of the compound wing unmanned aerial vehicle, the operating speed of the engine of the compound wing unmanned aerial vehicle is adjusted to different rotation speeds and different limited flight envelopes, which can meet the needs of different flight modes of the compound wing unmanned aerial vehicle. When the power safety margin is small, the power consumption is limited and the charging power is temporarily increased to ensure sufficient power safety margin. When the power safety margin is sufficient, the power consumption limit is relaxed and economic charging power is used to ensure the endurance of the unmanned aerial vehicle. The power control rate suitable for the compound wing unmanned aerial vehicle is formed. On the basis of not affecting the flight safety, the effective payload ratio and endurance performance of the unmanned aerial vehicle are improved, and the power control of the compound wing unmanned aerial vehicle achieves a more ideal effect.

[0063] Embodiment two

[0064] Please refer to Figure 2 , Figure 2 is a flowchart of a power control method of a compound wing unmanned aerial vehicle in another embodiment of the application. The method comprises:

[0065] S11: Before the compound wing unmanned aerial vehicle takes off, it is judged whether the battery power of the compound wing unmanned aerial vehicle is in a no-fly condition;

[0066] In the specific implementation process of the application, before the compound wing unmanned aerial vehicle takes off, it is judged whether the battery power of the compound wing unmanned aerial vehicle is in a no-fly condition. The expression of the no-fly condition is:

[0067] ,

[0068] Wherein, k is the power safety margin coefficient, is the full battery power, is the vertical take-off height, is the maximum vertical landing speed, is the vertical take-off and landing rate, is the hovering power consumption, is the maximum charging power, is the current battery power.

[0069] S12: If it is judged that the battery power of the compound wing unmanned aerial vehicle is in a no-fly condition, a charging signal is sent to the flight control terminal, and a charging state is started to control the engine to drive the integrated starter-generator to charge the battery;

[0070] In the embodiment of the present application, if it is judged that the battery power of the compound wing unmanned aerial vehicle is in the no-fly condition, a charging required signal is sent to the flight control terminal, the flight control terminal gives a no-takeoff sign, the flight control terminal can be an intelligent terminal used by the pilot, controls the compound wing unmanned aerial vehicle to start the charging state, controls the engine to drive the start and launch integrated generator to charge the battery, and makes the engine run at the maximum speed to drive the start and launch integrated generator to rotate, and the start and launch integrated generator converts the mechanical energy from the generator into electrical energy, and charges the battery after the electrical energy is stepped down and rectified.

[0071] S13: Real-time monitoring of battery power change during battery charging, when it is detected that the battery power of the compound wing unmanned aerial vehicle is charged to the no-fly condition, a charging completion signal is sent to the flight control terminal;

[0072] In the embodiment of the present application, during the battery charging of the compound wing unmanned aerial vehicle, the battery power change is monitored in real time, when it is detected that the battery power is charged to the no-fly condition, the compound wing unmanned aerial vehicle stops charging, and sends a charging completion signal to the flight control terminal, wherein k is a power safety margin coefficient, is the full battery power, is the vertical takeoff height, is the maximum vertical landing speed, is the vertical takeoff and landing rate, is the hovering power consumption, is the maximum charging power, is the current battery power.

[0073] S14: The flight control terminal sends a takeoff permission signal to the compound wing unmanned aerial vehicle based on the charging completion signal, and the compound wing unmanned aerial vehicle takes off based on the takeoff permission signal;

[0074] In the embodiment of the present application, the flight control terminal receives the charging completion signal, sends a takeoff permission signal to the compound wing unmanned aerial vehicle based on the charging completion signal, and the compound wing unmanned aerial vehicle enters the flight state to take off after receiving the takeoff permission signal. It should be noted that the engine runs at the maximum speed during normal takeoff and landing of the unmanned aerial vehicle.

[0075] S15: If it is judged that the battery power of the compound wing unmanned aerial vehicle is not in the no-fly condition, a power normal signal is sent to the flight control terminal, the flight control terminal sends a takeoff permission signal to the compound wing unmanned aerial vehicle based on the power normal signal, and the compound wing unmanned aerial vehicle takes off based on the takeoff permission signal;

[0076] S16: After the compound wing unmanned aerial vehicle takes off, the compound wing unmanned aerial vehicle receives a mode control instruction sent by the flight control terminal, and the mode control instruction includes a fixed-wing flight mode and a vertical flight mode.​

[0077] S17: When the mode control instruction received by the compound wing unmanned aerial vehicle is the fixed wing flight mode, matching the power condition met by the current battery capacity of the compound wing unmanned aerial vehicle, and determining the flight envelope and engine speed of the compound wing unmanned aerial vehicle;

[0078] S18: When the mode control instruction received by the compound wing unmanned aerial vehicle is the vertical flight mode, adjusting the engine speed of the compound wing unmanned aerial vehicle to the maximum speed, determining the countdown of the vertical flight mode, when the countdown of the vertical flight mode reaches the preset threshold, planning a transition flight route, the transition flight route is a transition route from the vertical flight mode to the fixed wing flight mode, and the countdown of the vertical flight mode is used to limit the duration of the vertical flight mode.

[0079] In the embodiment of the application, by judging different flight modes and different power conditions of the compound wing unmanned aerial vehicle, the running speed of the engine of the compound wing unmanned aerial vehicle is adjusted to different speeds and different limited flight envelopes, which can meet the needs of different flight modes of the compound wing unmanned aerial vehicle, limit the power consumption and increase the charging power for a short time when the power safety margin is small, ensure sufficient power safety margin, relax the power consumption limit and use economic charging power when the power safety margin is sufficient, ensure the endurance of the unmanned aerial vehicle, form a power control rate suitable for the compound wing unmanned aerial vehicle, improve the effective payload ratio and endurance performance of the unmanned aerial vehicle without affecting the flight safety, and make the power control of the compound wing unmanned aerial vehicle achieve a more ideal effect.

[0080] Embodiment three

[0081] Please refer to Figure 3 , Figure 3 is a structural composition schematic diagram of the hybrid power system of the compound wing unmanned aerial vehicle in the embodiment of the application, the system includes a start and launch integrated generator, a fuel engine, a battery, a flight control computer, a lift propeller group and a thrust propeller group, and the system is configured to execute the power control method of the compound wing unmanned aerial vehicle in the above embodiment.

[0082] In the specific implementation process of the application, as Figure 5The integrated starter-generator is used for power generation and rectification to charge the battery and act as a starter for the fuel engine. During the starting stage of the fuel engine, the integrated starter-generator converts the battery power into mechanical energy to drive the engine crankshaft, and cooperates with the engine ignition until the engine completes independent operation and the starting circuit is disconnected. After the engine is successfully started, the integrated starter-generator is driven to rotate, and the integrated starter-generator converts the mechanical energy from the engine into electrical energy to charge the battery after voltage reduction and rectification. The fuel engine is used to power the integrated starter-generator. The engine and the integrated starter-generator are only used as range extenders, and the system complexity and weight are relatively low, which is suitable for use scenarios that emphasize range / time performance but do not require high mobility. The integrated starter-generator integrates the functions of power generation and engine starter, further reducing the weight of the unmanned aerial vehicle. The battery can be a lithium polymer battery, which supplies power to the electronic speed controller. The flight control computer serves as the control core, and comprehensively controls the flight envelope limit, electronic speed controller, engine speed, and charging configuration. The lift propeller group includes an electronic speed controller, a motor, and a lift propeller. The motor can be a brushless direct current motor. The lift propeller group provides lift for the compound wing unmanned aerial vehicle. The thrust propeller group includes an electronic speed controller, a motor, and a thrust / pull propeller. The motor can be a brushless permanent magnet direct current motor. The thrust propeller group is used to provide the compound wing unmanned aerial vehicle with axial thrust or pull force, and serves as a speed reducer and emergency generator of the unmanned aerial vehicle in an emergency state. The thrust / pull propeller provides thrust or pull force in the normal cruising stage, works in the windmill mode in the emergency descent state and engine / generator failure state, provides the required deceleration resistance when the unmanned aerial vehicle maintains a large descent rate, and provides a small charging power to ensure the operation of the key control system and improve the safety of the whole machine. Through the windmill power generation mode scheme of the thrust or pull propeller, the descent rate of the unmanned aerial vehicle can be increased, the power supply redundancy of important systems of the unmanned aerial vehicle can be improved, and the safety level of the whole machine can be significantly improved. The compound wing unmanned aerial vehicle uses multiple rotors to provide a lift matrix during the take-off and landing stage and the emergency stage to maintain the flight height and attitude, and uses one or more propellers to provide thrust or pull force during the cruising stage to maintain the kinetic energy of the unmanned aerial vehicle. The flight control is performed using the scheme of a traditional fixed-wing unmanned aerial vehicle.

[0083] At the same time, Figure 3 The illustrated compound wing unmanned aerial vehicle hybrid power system does not constitute a limitation on all components, and can include more or fewer components than illustrated, or combine certain components. The specific embodiments can refer to the above-mentioned embodiments, which are not described here again.

[0084] In the embodiment of the present application, by judging different flight modes and different power conditions of the compound wing unmanned aerial vehicle, the operating speed of the engine of the compound wing unmanned aerial vehicle is adjusted to different rotating speeds and different limited flight envelopes, so as to meet the needs of different flight modes of the compound wing unmanned aerial vehicle, limit the power consumption when the power safety margin is small, and increase the charging power for a short time, so as to ensure sufficient power safety margin, and relax the power consumption limit and use economic charging power when the power safety margin is sufficient, so as to ensure the endurance of the unmanned aerial vehicle, form a power control rate suitable for the compound wing unmanned aerial vehicle, improve the effective payload ratio and endurance performance of the unmanned aerial vehicle without affecting the flight safety, and make the power control of the compound wing unmanned aerial vehicle achieve a more ideal effect.

[0085] Embodiment four

[0086] Please refer to Figure 4 , Figure 4 is a structural schematic diagram of the power control device of the compound wing unmanned aerial vehicle in the embodiment of the present application, and the device comprises:

[0087] The mode control module 41 is used for receiving the mode control instruction sent by the flight control terminal after the compound wing unmanned aerial vehicle takes off, and the mode control instruction comprises a fixed wing flight mode and a vertical flight mode.

[0088] In the specific implementation process of the present application, before the compound wing unmanned aerial vehicle takes off, whether the compound wing unmanned aerial vehicle is in a no-fly condition is judged based on the flight control computer, if it is judged that the compound wing unmanned aerial vehicle is in the no-fly condition, a no-take-off sign is given, the engine drives the integrated starter-generator to charge the battery, the engine is operated at the maximum rotating speed to drive the integrated starter-generator to rotate, the integrated starter-generator converts the mechanical energy from the generator into electrical energy, and the electrical energy is rectified after being stepped down to charge the battery, and the expression of the no-fly condition is:

[0089] ,

[0090] Wherein, k is a power safety margin coefficient, is the full power of the battery, is the vertical take-off height, is the maximum vertical landing speed, is the vertical take-off and landing rate, is the hovering power consumption, is the maximum charging power, The current battery power is the current battery power of the compound wing unmanned aerial vehicle. If it is judged that the compound wing unmanned aerial vehicle is not in the no-fly condition, the compound wing unmanned aerial vehicle is controlled to take off. It should be noted that when the unmanned aerial vehicle normally takes off and lands, the engine runs at the maximum speed. After the compound wing unmanned aerial vehicle takes off, the flight control terminal transmits the selected mode control instruction to the compound wing unmanned aerial vehicle. The mode control instruction includes a fixed-wing flight mode and a vertical flight mode. The compound wing unmanned aerial vehicle receives the mode control instruction to control the power in different modes.

[0091] The first power control module 42 is used to match the power condition satisfied by the current battery power of the compound wing unmanned aerial vehicle when the mode control instruction received by the compound wing unmanned aerial vehicle is the fixed-wing flight mode, and to determine the flight envelope and engine speed of the compound wing unmanned aerial vehicle.

[0092] In the specific implementation process of the present application, the matching of the power condition satisfied by the current battery power of the compound wing unmanned aerial vehicle and the determination of the flight envelope and engine speed of the compound wing unmanned aerial vehicle include: when the current battery power of the compound wing unmanned aerial vehicle satisfies the first power condition, adjusting the engine speed of the compound wing unmanned aerial vehicle to the first speed, determining the first limited flight envelope; when the current battery power of the compound wing unmanned aerial vehicle satisfies the second power condition, adjusting the engine speed of the compound wing unmanned aerial vehicle to the second speed, determining the second limited flight envelope; when the current battery power of the compound wing unmanned aerial vehicle satisfies the third power condition, adjusting the engine speed of the compound wing unmanned aerial vehicle to the third speed, determining the third limited flight envelope; when the current battery power of the compound wing unmanned aerial vehicle satisfies the fourth power condition, adjusting the engine speed of the compound wing unmanned aerial vehicle to the fourth speed, determining the fourth limited flight envelope.

[0093] Further, when the current battery power of the compound wing unmanned aerial vehicle satisfies the first power condition, the engine speed of the compound wing unmanned aerial vehicle is adjusted to the first speed, and the first limited flight envelope is determined, which includes: when the current battery power of the compound wing unmanned aerial vehicle satisfies , the engine speed of the compound wing unmanned aerial vehicle is adjusted to idle speed, and the flight envelope of the flight mode switching and the fixed-wing flight mode is not limited, wherein The current battery power is the current battery power of the compound wing unmanned aerial vehicle. The full battery power is the full battery power of the compound wing unmanned aerial vehicle.

[0094] Further, when the current battery power of the compound wing unmanned aerial vehicle satisfies the second power condition, the engine speed of the compound wing unmanned aerial vehicle is adjusted to the second speed, and the second limited flight envelope is determined, which includes: when the current battery power of the compound wing unmanned aerial vehicle satisfies , the engine speed of the compound wing unmanned aerial vehicle is adjusted to the economic speed, and the flight envelope of the flight mode switching and the fixed-wing flight mode is not limited, wherein The current battery power is the current battery power of the compound wing unmanned aerial vehicle. is the full battery capacity, k is the battery capacity safety margin coefficient, is the current landing route minimum termination height, is the maximum vertical landing speed, is the hovering power consumption.

[0095] Further, when the current battery capacity of the compound wing unmanned aerial vehicle meets the third power condition, the engine speed of the compound wing unmanned aerial vehicle is adjusted to the third speed, and the third limited flight envelope is determined, including: when the current battery capacity of the compound wing unmanned aerial vehicle meets , the engine speed of the compound wing unmanned aerial vehicle is adjusted to the maximum speed, the compound wing unmanned aerial vehicle is limited to switch from the fixed wing flight mode to the vertical flight mode, and the flight envelope of the fixed wing flight mode is not limited, wherein k is the battery capacity safety margin coefficient, is the full battery capacity, is the current landing route minimum termination height, is the maximum vertical landing speed, is the hovering power consumption, is the current battery capacity.

[0096] Further, when the current battery capacity of the compound wing unmanned aerial vehicle meets the fourth power condition, the engine speed of the compound wing unmanned aerial vehicle is adjusted to the fourth speed, and the fourth limited flight envelope is determined, including: when the current battery capacity of the compound wing unmanned aerial vehicle meets , the engine speed of the compound wing unmanned aerial vehicle is adjusted to the maximum speed, the compound wing unmanned aerial vehicle is limited to switch from the fixed wing flight mode to the hovering flight mode, the flight speed of the fixed wing flight mode is limited to the economic cruise speed, and the target climb rate of the compound wing unmanned aerial vehicle is set to zero, wherein k is the battery capacity safety margin coefficient, is the full battery capacity, is the current landing route minimum termination height, is the maximum vertical landing speed, is the hovering power consumption, is the current battery capacity.

[0097] Specifically, when the compound wing unmanned aerial vehicle is in the fixed wing flight mode and the current battery capacity meets the first power condition during the flight of the compound wing unmanned aerial vehicle, the fixed wing flight mode provides the flight power of the unmanned aerial vehicle for the fixed wing assembly, the first power condition is , the running speed of the engine of the compound wing unmanned aerial vehicle is controlled to the idle speed, and the idle speed of the unmanned aerial vehicle refers to the state that the engine runs at the lowest stable speed in the empty state, wherein the is the current battery capacity, For the full battery power, determine the flight envelope without limiting the flight mode switching and the fixed-wing flight mode, the flight envelope of the unmanned aerial vehicle is a closed geometric figure defined by flight speed, height, overload and other parameters as coordinates, indicating the parameter range of its safe operation under the task environment and task conditions. When the compound wing unmanned aerial vehicle is in the fixed-wing flight mode and the current battery power meets the second power condition, the second power condition is , adjust the operating speed of the engine of the compound wing unmanned aerial vehicle to the economic speed, i.e. use the economic charging power, determine the flight envelope without limiting the flight mode switching and the fixed-wing flight mode, wherein the is the current battery power, is the full battery power, k is the power safety margin coefficient, is the current landing route minimum termination height, is the maximum vertical landing speed, is the hovering power consumption. When the compound wing unmanned aerial vehicle is in the fixed-wing flight mode and meets the third power condition of the current battery power, the third power condition is , adjust the operating speed of the engine of the compound wing unmanned aerial vehicle to the maximum speed, limit the compound wing unmanned aerial vehicle from switching from the fixed-wing flight mode to the vertical flight mode, the vertical flight mode of the unmanned aerial vehicle refers to the ability to complete take-off and landing without runway or taxi through vertical take-off and landing technology, mainly relying on the thrust generated by the engine to generate lift, at the same time, in the landing or emergency self-help mode, there is no need to limit the switching from the fixed-wing flight mode to the vertical flight mode, and the flight envelope of the fixed-wing flight mode is not limited, wherein k is the power safety margin coefficient, is the full battery power, is the current landing route minimum termination height, is the maximum vertical landing speed, is the hovering power consumption, is the current battery power. When the compound wing unmanned aerial vehicle is in the fixed-wing flight mode and the current battery power meets the fourth power condition, the fourth power condition is , adjust the operating speed of the engine of the compound wing unmanned aerial vehicle to the maximum speed, limit the compound wing unmanned aerial vehicle from switching from the fixed-wing flight mode to the hovering flight mode, at the same time, in the landing or emergency self-help mode, there is no need to limit the switching from the fixed-wing flight mode to the vertical flight mode, limit the flight speed of the fixed-wing flight mode to the economic cruise speed, the target climb rate of the compound wing unmanned aerial vehicle is set to zero, and if there is terrain obstacle avoidance and traffic conflict, the climb rate does not need to be set to zero, wherein k is the power safety margin coefficient, is the full battery power, is the current landing route minimum termination height, is the maximum vertical landing speed, is the hovering power consumption, current battery power.

[0098] The second power control module 43 is configured to adjust the engine speed of the compound wing unmanned aerial vehicle to the maximum speed when the mode control instruction received by the compound wing unmanned aerial vehicle is the vertical flight mode, determine the countdown of the vertical flight mode, plan a transition flight route when the countdown of the vertical flight mode reaches a preset threshold, the transition flight route being a transition route from the vertical flight mode to the fixed-wing flight mode, and the countdown of the vertical flight mode being used to limit the duration of the vertical flight mode.

[0099] In the embodiment of the present application, the countdown of the vertical flight mode is calculated according to the following formula:

[0100] ,

[0101] wherein, is the countdown, is the current battery power, and k is a power safety margin coefficient, is the full battery power, is the hovering power consumption, is the maximum charging power, is the typical transition flight time.

[0102] Specifically, when the compound wing unmanned aerial vehicle is in the vertical flight mode, the running speed of the engine of the compound wing unmanned aerial vehicle is adjusted to the fifth speed, i.e., the engine runs at the maximum speed, the duration of the vertical flight mode is limited, and a countdown progress bar is given to the pilot. The countdown of the vertical flight mode is used to limit the duration of the vertical flight mode, and the countdown of the vertical flight mode is calculated according to the following formula:

[0103] ,

[0104] wherein, is the countdown, is the current battery power, and k is a power safety margin coefficient, is the full battery power, is the hovering power consumption, is the maximum charging power, When the countdown reaches a preset threshold, the preset threshold can be set to 10s, the transition flight route is automatically planned, and when the countdown of the vertical flight mode reaches the preset threshold, the transition flight route is planned, which can effectively save the power consumption of the compound wing unmanned aerial vehicle. The transition flight route is the transition route from the vertical flight mode to the fixed-wing flight mode, the end point of the transition section and the current position of the compound wing unmanned aerial vehicle are obtained, the start point heading and the end point heading of the transition section are analyzed, the change of the heading angle before and after the transition is calculated, the distance from the transition starting point to the route point is calculated according to the change of the heading angle before and after the transition, the arc center of the transition section is calculated, and the transition flight route is planned according to the start point heading, the end point heading, the change of the heading angle, the distance from the transition starting point to the route point and the arc center of the transition section. The final transition flight route is obtained, and the pilot is prompted. The prior art only implements the control of the power generation end, such as controlling the engine speed and controlling the charging power, and does not utilize the power consumption characteristics of the compound wing unmanned aerial vehicle to provide flight envelope limitation, so as to improve the requirement for engine output power, which is not conducive to the payload ratio and economic indicators of the whole machine. Therefore, by judging different flight modes and different power conditions of the compound wing unmanned aerial vehicle, the running speed of the engine of the compound wing unmanned aerial vehicle is adjusted to different speeds and different limited flight envelopes, which can effectively improve the payload ratio and endurance performance of the unmanned aerial vehicle.

[0105] In the flight process of the compound wing unmanned aerial vehicle, if an emergency occurs and emergency descent is required or the power system fails to generate power, the compound wing unmanned aerial vehicle is controlled to descend in a dive attitude, and the thrust or drag motor is controlled to directly drive the propeller into the windmill power generation mode to provide deceleration resistance and power to the key control system to ensure that the unmanned aerial vehicle can be controlled to land and reduce the safety impact.

[0106] In the embodiment of the present application, by judging different flight modes and different power conditions of the compound wing unmanned aerial vehicle, the running speed of the engine of the compound wing unmanned aerial vehicle is adjusted to different speeds and different limited flight envelopes, which can meet the needs of different flight modes of the compound wing unmanned aerial vehicle. When the power safety margin is small, the power consumption is limited and the charging power is temporarily increased to ensure sufficient power safety margin. At the same time, when the power safety margin is sufficient, the power consumption limit is relaxed and economic charging power is used to ensure the endurance of the unmanned aerial vehicle. The power control rate suitable for the compound wing unmanned aerial vehicle is formed, the payload ratio and endurance performance of the unmanned aerial vehicle are improved on the basis of not affecting the flight safety, and the power control of the compound wing unmanned aerial vehicle achieves a more ideal effect.

[0107] Those skilled in the art can understand that all or part of the steps in the above-mentioned embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer readable storage medium, which can include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0108] In addition, the power control method and related device of the composite wing unmanned aerial vehicle provided by the embodiments of the present application are described in detail above, and the principles and implementation manners of the present application are described by using specific examples in this paper. The above embodiment is only used to help understand the method of the present application and its core idea. Meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manner and application range will be changed, and the above description should not be understood as a limitation of the present application.

Claims

1. A power control method for a compound-wing unmanned aerial vehicle, characterized in that, The method includes: After the compound wing UAV takes off, the compound wing UAV receives mode control commands sent by the flight control terminal. The mode control commands include fixed-wing flight mode and vertical flight mode. When the mode control command received by the compound wing UAV is in fixed-wing flight mode, match the power conditions satisfied by the current battery power of the compound wing UAV, and determine the flight envelope and engine speed of the compound wing UAV. When the mode control command received by the compound wing UAV is vertical flight mode, the engine speed of the compound wing UAV is adjusted to the maximum speed, the countdown of vertical flight mode is determined, and when the countdown of vertical flight mode reaches a preset threshold, a transition flight path is planned. The transition flight path is the transition path from vertical flight mode to fixed-wing flight mode. The countdown of vertical flight mode is used to limit the duration of vertical flight mode.

2. The power control method for a compound-wing unmanned aerial vehicle according to claim 1, characterized in that, The method further includes: Before the compound-wing UAV takes off, it is determined whether the UAV is under no-fly conditions. If it is determined that the UAV is under no-fly conditions, the engine is controlled to drive the integrated generator to charge the battery. The expression for the no-fly conditions is: ， Where k is the power safety margin coefficient. The battery is fully charged. Vertical takeoff altitude For the maximum vertical descent speed, Vertical takeoff and landing rate, Power consumption for hovering, Maximum charging power, This indicates the current battery level.

3. The power control method for a compound-wing unmanned aerial vehicle according to claim 1, characterized in that, The matching of the current battery charge of the compound-wing UAV to meet the power conditions, and the determination of the flight envelope and engine speed of the compound-wing UAV, includes: When the current battery charge of the compound wing UAV meets the first power condition, adjust the engine speed of the compound wing UAV to the first speed and determine the first limited flight envelope; When the current battery charge of the compound wing UAV meets the second power condition, adjust the engine speed of the compound wing UAV to the second speed and determine the second restricted flight envelope; When the current battery charge of the compound wing UAV meets the third power condition, adjust the engine speed of the compound wing UAV to the third speed and determine the third restricted flight envelope; When the current battery charge of the compound-wing UAV meets the fourth power condition, adjust the engine speed of the compound-wing UAV to the fourth speed and determine the fourth restricted flight envelope.

4. The power control method for a compound-wing unmanned aerial vehicle according to claim 3, characterized in that, When the current battery charge of the compound-wing UAV meets the first power condition, adjusting the engine speed of the compound-wing UAV to the first speed and determining the first limited flight envelope includes: When the current battery power of the compound-wing drone meets At that time, the engine speed of the compound-wing UAV is adjusted to idle speed, and the flight envelope that does not restrict flight mode switching and fixed-wing flight mode is determined, wherein, the... This is the current battery level. This indicates the battery is fully charged.

5. The power control method for a compound-wing unmanned aerial vehicle according to claim 3, characterized in that, When the current battery charge of the compound-wing UAV meets the second power condition, the engine speed of the compound-wing UAV is adjusted to the second speed, and the second restricted flight envelope is determined, including: When the current battery power of the compound-wing drone meets At that time, the engine speed of the compound-wing UAV is adjusted to an economical speed, and the flight envelope that does not restrict flight mode switching and fixed-wing flight mode is determined, wherein the... This is the current battery level. The battery is at full charge capacity, and k is the safety margin coefficient for the battery capacity. This is the lowest termination altitude of the current landing path. The maximum vertical descent speed, Power consumption during hovering.

6. The power control method for a compound-wing unmanned aerial vehicle according to claim 3, characterized in that, When the current battery charge of the compound-wing UAV meets the third power condition, the engine speed of the compound-wing UAV is adjusted to the third speed, and the third restricted flight envelope is determined, including: When the current battery power of the compound-wing drone meets At this time, the engine speed of the compound-wing UAV is adjusted to the maximum speed, restricting the UAV from switching from fixed-wing flight mode to vertical flight mode, but not restricting the flight envelope of fixed-wing flight mode, where k is the power safety margin coefficient. The battery is fully charged. This is the lowest termination altitude of the current landing path. The maximum vertical descent speed, Power consumption for hovering, This indicates the current battery level.

7. The power control method for a compound-wing unmanned aerial vehicle according to claim 3, characterized in that, When the current battery charge of the compound-wing UAV meets the fourth power condition, the engine speed of the compound-wing UAV is adjusted to the fourth speed, and the fourth restricted flight envelope is determined, including: When the current battery power of the compound-wing drone meets At this time, adjust the engine speed of the compound-wing UAV to the maximum speed, restrict the compound-wing UAV from fixed-wing flight mode to hovering flight mode, limit the flight speed in fixed-wing flight mode to the economic flight time speed, and set the target climb rate of the compound-wing UAV to zero, where k is the power safety margin coefficient. The battery is fully charged. This is the lowest termination altitude of the current landing path. The maximum vertical descent speed, Power consumption for hovering, This indicates the current battery level.

8. The power control method for a compound-wing unmanned aerial vehicle according to claim 1, characterized in that, The formula for calculating the countdown of the vertical flight mode is as follows: ， in, For the countdown, The current battery level is given by k, where k is the battery safety margin coefficient. The battery is fully charged. Power consumption for hovering, Maximum charging power, This represents a typical transitional flight time.

9. A power control device for a compound-wing unmanned aerial vehicle, characterized in that, The device includes: Mode control module: used to receive mode control commands sent by the flight control terminal after the compound wing UAV takes off. The mode control commands include fixed-wing flight mode and vertical flight mode. First power control module: used to match the power conditions satisfied by the current battery charge of the compound wing UAV when the mode control command received by the compound wing UAV is fixed wing flight mode, and to determine the flight envelope and engine speed of the compound wing UAV. The second power control module is used to adjust the engine speed of the compound wing UAV to the maximum speed when the mode control command received by the compound wing UAV is vertical flight mode, determine the countdown of vertical flight mode, and plan a transition flight route when the countdown of vertical flight mode reaches a preset threshold. The transition flight route is the transition route from vertical flight mode to fixed-wing flight mode. The countdown of vertical flight mode is used to limit the duration of vertical flight mode.

10. A hybrid power system for a compound-wing unmanned aerial vehicle, characterized in that, The system includes an integrated generator, a fuel engine, a battery, a flight control computer, a lift propeller assembly, and a thrust propeller assembly, and is configured to perform the power control method of the compound-wing unmanned aerial vehicle according to any one of claims 1 to 8.

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