Dynamic tuning method and system of unmanned aerial vehicle and storage medium

Abstract

The invention provides a dynamic tuning method and system for an unmanned aerial vehicle and a storage medium, and the method comprises the steps: collecting a voltage signal and a current signal, and constructing a voltage complex analysis signal and a current complex analysis signal according to the voltage signal and the current signal; calculating a voltage instantaneous phase and a current instantaneous phase according to the voltage complex analysis signal and the current complex analysis signal, and calculating a phase difference; constructing a nonlinear adjustment function according to the phase difference, constructing a phase difference expression, and performing derivation on the composite inductor and the capacitor according to the phase difference expression to obtain an inductance derivation formula and a capacitance derivation formula; according to the nonlinear adjustment function, the inductance derivation formula and the capacitance derivation formula, constructing a parameter iteration updating rule about the composite inductance and capacitance; and obtaining updated composite inductance and capacitance according to the parameter iteration updating rule, and tuning according to the updated composite inductance and capacitance. According to the invention, real-time matching of resonant frequencies can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of tuning technology, in particular to a dynamic tuning method and system for unmanned aerial vehicles and a storage medium. BACKGROUND

[0002] In a conventional electromagnetic coupling power taking system, the secondary side inductance and capacitance parameters are mostly fixed values or are coarsely adjusted, and cannot be adjusted in real time, so it is difficult to adapt to the phase difference fluctuation caused by the equivalent parameter change in the flight process of the unmanned aerial vehicle due to the relative position, angle and environmental magnetic disturbance, resulting in resonance frequency drift, mismatch between the secondary side resonance frequency and the primary side power supply frequency, and affecting the power supply stability.

[0003] However, the conventional tuning mostly adopts simple linear adjustment or indirect judgment based on power curve, and the adjustment process is prone to oscillation, even out of control, resulting in system power failure. SUMMARY

[0004] The present application aims to provide a dynamic tuning method and system for unmanned aerial vehicles and a storage medium, which aims to solve the problem of system power failure caused by the conventional tuning method using simple linear adjustment or indirect judgment based on power curve, which is prone to oscillation in the adjustment process, even out of control.

[0005] In a first aspect, the present application provides a dynamic tuning method for unmanned aerial vehicles, comprising: collecting voltage signals and current signals of the secondary side coil of the unmanned aerial vehicle every first preset time, and constructing voltage complex analytic signals and current complex analytic signals according to the voltage signals and the current signals; calculating voltage instantaneous phase and current instantaneous phase according to the voltage complex analytic signals and the current complex analytic signals, and calculating phase difference according to the voltage instantaneous phase and the current instantaneous phase; constructing a non-linear adjustment function according to the phase difference, constructing a phase difference expression, and respectively deriving composite inductance and capacitance according to the phase difference expression, to obtain inductance derivative formula and capacitance derivative formula; constructing parameter iterative update rules for composite inductance and capacitance according to the non-linear adjustment function, the inductance derivative formula and the capacitance derivative formula; obtaining updated composite inductance and capacitance according to the parameter iterative update rules, and tuning according to the updated composite inductance and capacitance.

[0006] In some embodiments, the step of collecting voltage signals and current signals of the secondary side coil of the unmanned aerial vehicle every first preset time, and constructing voltage complex analytic signals and current complex analytic signals according to the voltage signals and the current signals comprises: collecting voltage signals and current signals according to the following formula: ; wherein, is the instantaneous voltage signal, is the voltage amplitude, is the instantaneous current signal, is the current amplitude, is the angular frequency, f is the primary side excitation frequency, , are the phase angles of the voltage and current respectively; performing Hilbert transform on the instantaneous voltage signal and the instantaneous current signal, and constructing a complex analytic signal according to the following formula: ; wherein, , are the imaginary part signals corresponding to the voltage signal and the current signal respectively after Hilbert transform, j is the imaginary unit, and are the voltage complex analytic signal and the current complex analytic signal respectively.

[0007] In some embodiments, the step of calculating the voltage instantaneous phase and the current instantaneous phase according to the voltage complex analytic signal and the current complex analytic signal, and calculating the phase difference according to the voltage instantaneous phase and the current instantaneous phase comprises: calculating the voltage instantaneous phase and the current instantaneous phase according to the following formula: ; wherein, , are the voltage instantaneous phase and the current instantaneous phase respectively, is the phase unwrapping function, is the phase angle of the corresponding analytic signal; obtaining the phase angle according to the following formula: ; obtaining the phase difference according to the following formula:

[0008] wherein, is the phase difference.

[0009] In some embodiments, the step of constructing the non-linear adjustment function and the phase difference expression according to the phase difference comprises: constructing the non-linear adjustment function according to the following formula:

[0010] judging whether the phase difference is greater than a first preset threshold value; If the phase difference is greater than a first preset threshold, then ; If the phase difference is less than or equal to the first preset threshold, then ; The phase difference expression is: ; wherein, is a nonlinear adjustment function, is a nonlinear adjustment coefficient, is the difference between the inductive reactance and the capacitive reactance, that is, the imaginary part of the loop reactance, and R is the total resistance of the secondary loop.

[0011] In some embodiments, the step of respectively deriving the composite inductance and the composite capacitance according to the phase difference expression to obtain an inductance derivative formula and a capacitance derivative formula includes: Deriving the composite inductance according to the phase difference expression: ; wherein, , and substituting to obtain the inductance derivative formula: ; Deriving the composite capacitance according to the phase difference expression: ; wherein, , and substituting to obtain the capacitance derivative formula: ; wherein, is the inductive reactance, is the capacitive reactance.

[0012] In some embodiments, the step of constructing a parameter iterative update rule for the composite inductance and the composite capacitance according to the nonlinear adjustment function, the inductance derivative formula, and the capacitance derivative formula includes: Constructing the parameter iterative update rule according to the following formula:

[0013] wherein, , are the inductances of the k+1th and kth iterations, respectively, , are the capacitances of the k+1th and kth iterations, respectively, is an adjustment step coefficient for controlling the magnitude of each iteration update, is a Sigmoid function: ; wherein, is a slope adjustment parameter.

[0014] In a second aspect, the present application provides a dynamic tuning system of a UAV, the system comprising: a signal acquisition module configured to acquire a voltage signal and a current signal of a secondary side coil of the UAV every first preset time, and to construct a voltage complex analytic signal and a current complex analytic signal according to the voltage signal and the current signal; a phase difference calculation module configured to calculate a voltage instantaneous phase and a current instantaneous phase according to the voltage complex analytic signal and the current complex analytic signal, and to calculate a phase difference according to the voltage instantaneous phase and the current instantaneous phase; a derivation module configured to construct a non-linear adjustment function according to the phase difference, to construct a phase difference expression, and to derive a complex inductance and a capacitance according to the phase difference expression, respectively, to obtain an inductance derivation formula and a capacitance derivation formula, respectively; a rule construction module configured to construct a parameter iterative update rule about the complex inductance and the capacitance according to the non-linear adjustment function, the inductance derivation formula and the capacitance derivation formula; a tuning module configured to obtain updated complex inductance and capacitance according to the parameter iterative update rule, and to tune according to the updated complex inductance and capacitance.

[0015] In a third aspect, the present application provides a storage medium, the storage medium storing one or more programs, the programs being executed by a processor to implement the dynamic tuning method of the UAV described above.

[0016] In a fourth aspect, the present application provides an electronic device, the electronic device comprising a memory and a processor, wherein: the memory is configured to store a computer program; the processor is configured to execute the computer program stored on the memory to implement the dynamic tuning method of the UAV described above.

[0017] Compared with the prior art, the present application has the following advantages: This invention introduces an adjustable capacitor and a variable inductor on the secondary side. By adjusting their values, real-time matching of the resonant frequency can be achieved, adapting to phase difference fluctuations caused by changes in equivalent parameters due to relative position, angle, and environmental magnetic disturbances during UAV flight. Specifically, firstly, the voltage and current signals of the secondary coil are captured. Secondly, the voltage and current signals are constructed into complex forms using Hilbert transform to calculate the instantaneous phase difference. Then, a novel nonlinear function is designed so that adjusting the capacitor and inductor results in an approximately linear output when the phase difference is small (ensuring sensitivity), and the output reaches the function's maximum value when the phase difference is large (preventing excessive oscillation), ensuring stability during the adjustment process. Finally, the partial derivatives of the phase difference with respect to the inductor and capacitor are calculated to obtain the sensitivity of the phase difference to the inductor and capacitor. Substituting these values ​​into the update step size determined by the nonlinear adjustment function, iterative adjustments are made to gradually approach zero the phase difference, achieving frequency synchronization between the secondary and primary sides. Attached Figure Description

[0018] Figure 1 This is a flowchart of a dynamic tuning method for an unmanned aerial vehicle (UAV) according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a dynamic tuning system for an unmanned aerial vehicle (UAV) according to an embodiment of the present invention.

[0019] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art. The terms "comprising" and similar expressions used herein mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, but does not exclude other elements or objects.

[0021] like Figure 1 As shown, an embodiment of the present invention proposes a dynamic tuning method for a UAV, the method comprising steps S101 to S105, wherein: Step S101: Collect the voltage and current signals of the UAV secondary coil at first preset time intervals, and construct the voltage complex analysis signal and the current complex analysis signal based on the voltage and current signals; It should be noted that in the electromagnetic coupling induction power taking, the main side excitation coil is powered by a ground or wire side fixed power supply in the form of high frequency sine wave, and the secondary side coil is installed on the unmanned aerial vehicle platform. When the two are close, an electromagnetic coupling loop is formed, and energy is transmitted to the secondary side coil through the magnetic field.

[0022] In addition, the expression of the secondary side resonance frequency is: ; Where L and C are complex inductance and capacitance.

[0023] The above formula is derived from the classical theory of series resonance circuit, which shows that the product of inductance and capacitance determines the resonance frequency. By adjusting L or C, the resonance frequency can be dynamically changed, so as to realize the matching with the main side frequency and maximize the electromagnetic energy coupling efficiency.

[0024] Based on this, first, the voltage signal and current signal of the secondary side coil are periodically collected by high-speed analog-to-digital converter (ADC): ; Where, is the instantaneous voltage signal, is the voltage amplitude, is the instantaneous current signal, is the current amplitude, is the angular frequency, and f is the main side excitation frequency, , are the phase angles of voltage and current respectively.

[0025] In addition, in some embodiments, in order to collect the voltage signal and current signal of the instantaneous phase difference secondary side coil, the following processing flow is proposed based on Hilbert transform theory: First, the original signal does not have an instantaneous phase because it contains both positive and negative frequency components. However, by constructing an analytic signal, the imaginary part of the real-time signal is defined as its Hilbert transform result, forming a complex number. The phase angle of this complex signal can be defined as the instantaneous phase of the signal, so that the phase change can be continuously tracked over time.

[0026] Therefore, Hilbert transform is performed on the voltage signal and current signal to obtain their corresponding imaginary part signals and, and the complex analytic signal is constructed: ; Where, , are the imaginary part signals corresponding to the voltage signal and current signal after Hilbert transform respectively, and j is the imaginary unit, and are the voltage complex analytic signal and current complex analytic signal respectively, the real part is the original signal, and the imaginary part is the Hilbert transform result.

[0027] In some embodiments, the Hilbert transform is defined as: ; By segmenting the integral function, the singularity can be avoided and the integral is only performed on both sides of the singularity. Finally, the limit is taken to approach the result. The output Hilbert transform is 90° phase shifted from the original signal, which is used to form a complex analytic signal with the original signal to extract the instantaneous phase.

[0028] Step S102: Calculate the voltage instantaneous phase and the current instantaneous phase according to the voltage complex analytic signal and the current complex analytic signal, and calculate the phase difference according to the voltage instantaneous phase and the current instantaneous phase; It should be noted that the voltage instantaneous phase and the current instantaneous phase are calculated according to the following formula: ; wherein, , are the voltage instantaneous phase and the current instantaneous phase, is a phase unwrapping function, which is used to eliminate the discontinuity problem of phase jump, is a phase angle of the corresponding analytic signal; The phase angle is obtained according to the following formula: ; The phase difference is obtained according to the following formula:

[0029] wherein, is the phase difference.

[0030] In summary, and are the real part and the imaginary part of the analytic function, respectively. At the same time, in order to avoid the phase suddenly increasing from 179° to 181°, the arctan function will calculate 181° as -179°. The purpose of adding the unwrap function is to add or subtract to the phase when the phase mutation is checked and exceeds , so that the phase curve is a continuous change curve.

[0031] In addition, it should be pointed out that in the traditional electromagnetic coupling power supply system, the phase difference between voltage and current is usually obtained by zero-crossing detection or Fourier analysis. These methods have the following problems: first, only the average phase difference can be obtained; second, when the signal is disturbed by noise or waveform distortion, the detection accuracy decreases significantly. To solve the above problems, the Hilbert transform theory is introduced in the present application to construct complex voltage and current signals and extract the instantaneous phase. At the same time, the unwrap function is used to eliminate phase mutations and realize the smooth and continuous phase curve, so that the voltage and current phase difference can be obtained in real time and stably, avoiding the delay and discontinuity problems of the traditional method.

[0032] Step S103: constructing a nonlinear regulation function according to the phase difference, constructing a phase difference expression, and respectively deriving the complex inductance and capacitance according to the phase difference expression to obtain an inductance derivative formula and a capacitance derivative formula; It should be noted that, in order to prevent large phase difference disturbances that may occur in the actual environment from causing system errors, the present embodiment also designs a nonlinear regulation function:

[0033] If the phase difference is greater than the first preset threshold, it means that the function is in a small phase difference, and at this time the approximation is linear , ensuring sensitivity and regulation accuracy; if the phase difference is less than or equal to the first preset threshold, it means that the function is in a large phase difference, which will saturate the output , preventing oscillation or loss of control caused by too large regulation step. Parameters Through experimental optimization setting, the system can run stably. The function outputs a regulation signal according to the current measured phase difference, indicating the amplitude that the system needs to adjust according to the current phase difference.

[0034] In addition, in some embodiments, according to the relationship between the phase difference and the inductance and capacitance, an equivalent impedance model of the secondary side is established: .

[0035] wherein, is the equivalent complex impedance, and R is the total resistance of the secondary loop.

[0036] According to the equivalent impedance model of the secondary side and the geometric definition of the complex impedance under alternating current steady state, the phase difference expression is constructed as: ; wherein, is a nonlinear regulation function, is a nonlinear regulation coefficient, which is used to control the sensitivity and response range of the regulation function, so that the system maintains high sensitivity when the phase difference is small, and the output tends to saturation when the phase difference is large, preventing oscillation or excessive regulation, The difference between the inductive reactance and the capacitive reactance, i.e. the imaginary part of the loop, is R, which is the total resistance of the secondary loop.

[0037] It should be noted that in the secondary loop, the phase difference between the voltage and the current is mainly determined by the imaginary part of the impedance. Under ideal resonance conditions, the imaginary part is zero, and the voltage and current are in phase; when there is a difference in reactance, a phase difference is generated. The formula is an approximate expression of the phase difference, which reveals the mathematical relationship between the phase difference and the dynamic changes of inductance and capacitance. This expression reflects the direct impact of inductance and capacitance changes on the phase difference of the system, and becomes the mathematical basis for subsequent dynamic adjustment.

[0038] In summary, in the dynamic tuning process, if a linear adjustment method is directly used, when the phase difference is large, it is easy to cause the parameter update step to be too large, thereby causing the system to oscillate or even lose control; when the phase difference is small, the sensitivity may be insufficient, and the frequency matching delay may be caused, based on which, the present application proposes a nonlinear adjustment function, which outputs approximately linear when the phase difference is small, ensuring the sensitivity and adjustment accuracy; and outputs a predetermined maximum value when the phase difference is large, preventing the adjustment step from being too large to cause oscillation or loss of control.

[0039] Step S104: constructing a parameter iterative update rule for the composite inductance and capacitance according to the nonlinear adjustment function, the inductance derivative formula, and the capacitance derivative formula; It should be noted that in order to measure the sensitivity of the phase difference to the changes of inductance and capacitance, and to achieve accurate adjustment. The system calculates the partial derivative of the phase difference to the parameters L and C, and according to the chain rule, the gradient calculation steps are as follows: Derive the composite inductance according to the phase difference expression: ; Wherein, Substituting the inductance derivative formula: ; Derive the composite capacitance according to the phase difference expression: ; Wherein, Substituting the capacitance derivative formula: ; Wherein, The inductive reactance of the inductance is The capacitive reactance of the capacitance is

[0040] In summary, for the inductance, the partial derivative expression adjusts the positive influence of the phase difference, and the step can be enlarged or reduced according to the sensitivity. For the capacitance, the expression The influence of capacitance on phase difference is nonlinear and related to the current value of the parameter. The adjustment direction and step size can be guided to achieve targeted parameter adjustment and improve tuning efficiency.

[0041] In some embodiments, the parameter iterative update rule is constructed according to the following formula:

[0042] wherein, , Lk+1 and Lk are the inductances of the k+1th and kth iterations, respectively, , Ck+1 and Ck are the capacitances of the k+1th and kth iterations, respectively, is a step length coefficient for controlling the magnitude of each iteration update, is a Sigmoid function: ; wherein, is a slope adjustment parameter, and the output range of the rule is (-0.5, 0.5), which limits the size of the output and prevents the update amplitude from being too large. According to the above rule, the updated capacitance and inductance can be obtained. and are passed to the tuning module, such as a MEMS capacitance array or a variable inductance element, to complete the fine tuning of the inductance and capacitance. Finally, the system enters the next sampling period and reacquires the voltage and current for continued iterative adjustment.

[0043] Step S105: obtaining updated complex inductance and capacitance according to the parameter iterative update rule, and tuning according to the updated complex inductance and capacitance.

[0044] It should be noted that the traditional secondary side circuit usually relies on fixed inductance and capacitance parameters to maintain the resonance state. However, during the operation of the unmanned aerial vehicle, the inductance and capacitance will change dynamically due to the influence of position, angle, and environmental electromagnetic disturbance, resulting in a phase difference between voltage and current. Existing systems often lack fine control means for phase difference sensitivity, which can easily cause insufficient adjustment accuracy, slow response speed, and even resonance failure. Based on this, a parameter adjustment mechanism based on phase difference sensitivity is proposed. By calculating the sensitivity of the phase difference to the changes in inductance and capacitance, the system can determine the degree of influence of parameter changes on the phase difference, and combine a nonlinear adjustment function for iterative update. This method not only considers the current state of the parameter, but also introduces a limiting function Sigmoid function to avoid system oscillation or loss of control caused by excessive adjustment amplitude, thereby achieving adaptive and accurate adjustment of inductance and capacitance, and enabling the secondary side circuit to maintain stable resonance in a dynamic environment.

[0045] In summary, the application introduces adjustable capacitance and variable inductance on the secondary side, and by adjusting the values, the real-time matching of the resonant frequency can be realized, and the phase difference fluctuation caused by the equivalent parameter changes in the flight process of the unmanned aerial vehicle due to the relative position, angle and environmental magnetic disturbance can be adapted. Specifically, first, the voltage and current signals of the secondary side coil are captured, and then the voltage and current signals are constructed into complex form by using Hilbert transform to calculate the instantaneous phase difference. Then, a new nonlinear function is designed, so that the size of the adjusting capacitance and inductance is outputted to be approximately linear when the phase difference is small (to ensure sensitivity), and the output reaches the maximum value of the function when the phase difference is large (to prevent excessive oscillation), and the adjustment process is stable. Finally, the partial derivative of the phase difference to the inductance and capacitance is calculated to obtain the sensitivity of the phase difference to the inductance and capacitance. The update step determined by the nonlinear regulation function is substituted to perform iterative adjustment, so that the phase difference gradually approaches zero, and the frequency synchronization of the secondary side and the primary side is realized.

[0046] As shown in Figure 2 An embodiment of the application provides a dynamic tuning system of an unmanned aerial vehicle, the system comprising: A signal acquisition module 10 is configured to acquire voltage signals and current signals of a secondary side coil of the unmanned aerial vehicle every first preset time, and construct voltage complex analytic signals and current complex analytic signals according to the voltage signals and the current signals; A phase difference calculation module 20 is configured to calculate voltage instantaneous phases and current instantaneous phases according to the voltage complex analytic signals and the current complex analytic signals, and calculate a phase difference according to the voltage instantaneous phases and the current instantaneous phases; A derivation module 30 is configured to construct a nonlinear regulation function according to the phase difference, construct a phase difference expression, and derive the composite inductance and the capacitance according to the phase difference expression, to obtain an inductance derivation formula and a capacitance derivation formula, respectively; A rule construction module 40 is configured to construct a parameter iterative update rule of the composite inductance and the capacitance according to the nonlinear regulation function, the inductance derivation formula and the capacitance derivation formula; A tuning module 50 is configured to obtain updated composite inductance and capacitance according to the parameter iterative update rule, and tune according to the updated composite inductance and capacitance.

[0047] The application also provides a storage medium having one or more programs stored thereon, which, when executed by a processor, implement the dynamic tuning method of the unmanned aerial vehicle.

[0048] The application also provides an electronic device comprising a memory and a processor, wherein the memory is configured to store a computer program, and the processor is configured to execute the computer program stored on the memory to implement the dynamic tuning method of the unmanned aerial vehicle.

[0049] Those skilled in the art will understand that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can mean any means that can contain stored, communicated, propagated, or transmitted programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0050] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0051] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0052] While embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations fall within the scope and spirit of the invention as set forth in the claims. Furthermore, the invention described herein may have other embodiments and can be implemented or carried out in various ways.

Claims

1. A dynamic tuning method of a drone, characterized in that, The method comprises: Collecting voltage signals and current signals of the secondary side coil of the UAV every first preset time, and constructing voltage complex analytic signals and current complex analytic signals according to the voltage signals and the current signals; Calculating voltage instantaneous phases and current instantaneous phases according to the voltage complex analytic signals and the current complex analytic signals, and calculating a phase difference according to the voltage instantaneous phases and the current instantaneous phases; Constructing a non-linear adjustment function according to the phase difference, constructing a phase difference expression, and respectively deriving the complex inductance and the capacitance according to the phase difference expression to obtain an inductance derivative formula and a capacitance derivative formula; Constructing a parameter iterative update rule about the complex inductance and the capacitance according to the non-linear adjustment function, the inductance derivative formula and the capacitance derivative formula; Obtaining updated complex inductance and capacitance according to the parameter iterative update rule, and tuning according to the updated complex inductance and capacitance.

2. The dynamic tuning method of claim 1, wherein, The step of collecting voltage signals and current signals of the secondary side coil of the UAV every first preset time, and constructing voltage complex analytic signals and current complex analytic signals according to the voltage signals and the current signals comprises: Collecting voltage signals and current signals according to the following formula: ； wherein is the instantaneous voltage signal, is the voltage amplitude, is the instantaneous current signal, is the current amplitude, is the angular frequency, f is the primary side excitation frequency, , are the phase angles of the voltage and current, respectively; Performing Hilbert transform on the instantaneous voltage signals and the instantaneous current signals, and constructing complex analytic signals according to the following formula: ； wherein, , are imaginary part signals corresponding to the voltage signal and the current signal after Hilbert transform, respectively, and j is an imaginary unit, and are voltage complex analytic signal and current complex analytic signal, respectively.

3. The dynamic tuning method of claim 2, wherein, The step of calculating voltage instantaneous phases and current instantaneous phases according to the voltage complex analytic signals and the current complex analytic signals, and calculating a phase difference according to the voltage instantaneous phases and the current instantaneous phases comprises: Calculating voltage instantaneous phases and current instantaneous phases according to the following formula: ； wherein , are the voltage and current instantaneous phases, respectively, is the phase spread function, is the phase angle of the corresponding analytic signal; Obtaining a phase angle according to the following formula: ； Obtaining a phase difference according to the following formula: ； wherein is the phase difference.

4. The dynamic tuning method of claim 3, wherein, The step of constructing a non-linear adjustment function according to the phase difference, and constructing a phase difference expression comprises: Constructing a non-linear adjustment function according to the following formula: ； Judging whether the phase difference is greater than a first preset threshold value; if the phase difference is greater than a first preset threshold, then ; if the phase difference is less than or equal to a first preset threshold, then ; The phase difference expression is: ； wherein, is a non-linear regulation function, is a non-linear regulation coefficient, is the difference between the inductive and capacitive reactance, i.e. the imaginary part of the loop, and R is the total resistance of the secondary loop.

5. The dynamic tuning method of claim 4, wherein, The step of respectively deriving the complex inductance and the capacitance according to the phase difference expression, and respectively obtaining an inductance derivative formula and a capacitance derivative formula comprises: Deriving the complex inductance according to the phase difference expression: ； wherein, , substitution gives the inductance derivative formula: ； Deriving the complex capacitance according to the phase difference expression: ； wherein , substitution gives the capacitance derivative formula: ； wherein, is an inductive susceptance, is a capacitive susceptance.

6. The dynamic tuning method of claim 5, wherein, The step of constructing a parameter iterative update rule about the complex inductance and the capacitance according to the non-linear adjustment function, the inductance derivative formula and the capacitance derivative formula comprises: Constructing a parameter iterative update rule according to the following formula: ； wherein, , Lk+1and Lkare the inductances of the k+1thand kthiteration, respectively, , Ck+1and Ckare the capacitances of the k+1thand kthiteration, respectively, is a step size coefficient for controlling the magnitude of the update in each iteration, is a Sigmoid function: ； wherein is a slope adjustment parameter.

7. A dynamic tuning system for a drone, the system comprising: The system comprises: A signal collection module, configured to collect voltage signals and current signals of the secondary side coil of the UAV every first preset time, and construct voltage complex analytic signals and current complex analytic signals according to the voltage signals and the current signals; A phase difference calculation module, configured to calculate voltage instantaneous phases and current instantaneous phases according to the voltage complex analytic signals and the current complex analytic signals, and calculate a phase difference according to the voltage instantaneous phases and the current instantaneous phases; The derivation module is configured to construct a non-linear adjustment function according to the phase difference, construct a phase difference expression, and derive the complex inductance and the capacitance according to the phase difference expression, so as to obtain an inductance derivation formula and a capacitance derivation formula respectively; The rule construction module is configured to construct a parameter iterative update rule about the complex inductance and the capacitance according to the non-linear adjustment function, the inductance derivation formula and the capacitance derivation formula; The tuning module is configured to obtain updated complex inductance and capacitance according to the parameter iterative update rule, and tune according to the updated complex inductance and capacitance.

8. A storage medium, characterized by The storage medium stores one or more programs, which are executed by the processor to implement the dynamic tuning method of the unmanned aerial vehicle according to any one of claims 1-6.

9. An electronic device, comprising: The electronic device comprises a memory and a processor, wherein: The memory is used to store a computer program; The processor is used to execute the computer program stored on the memory to implement the dynamic tuning method of the unmanned aerial vehicle according to any one of claims 1-6. The electronic device comprises a memory and a processor, wherein: The memory is used to store a computer program; The processor is used to execute the computer program stored on the memory to implement the dynamic tuning method of the unmanned aerial vehicle according to any one of claims 1-6.

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