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

Abstract

The application provides a dynamic tuning method and system of a UAV and a storage medium, the method comprising: collecting a voltage signal and a current signal, and constructing a voltage complex analytic signal and a current complex analytic 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 analytic signal and the current complex analytic signal, and calculating a phase difference; constructing a nonlinear 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 updating rule about the complex inductance and the capacitance according to the nonlinear adjustment function, the inductance derivative formula and the capacitance derivative formula; obtaining updated complex inductance and capacitance according to the parameter iterative updating rule, and tuning according to the updated complex inductance and capacitance. The application can realize real-time matching of the resonant frequency.

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 supply system, the secondary 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 fluctuations 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, resulting in resonance frequency drift, mismatch between the secondary resonance frequency and the primary power supply frequency, and affecting the stability of power supply.

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

[0004] The purpose of the present application is to provide a dynamic tuning method and system for unmanned aerial vehicles and a storage medium, aiming to solve the problem of system power failure caused by the conventional tuning method using simple linear adjustment or indirect judgment based on power curves, 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:

[0006] Collecting the voltage signal and current signal of the secondary coil of the unmanned aerial vehicle every first preset time, and constructing the voltage complex analytic signal and current complex analytic signal according to the voltage signal and current signal;

[0007] Calculating the voltage instantaneous phase and current instantaneous phase according to the voltage complex analytic signal and current complex analytic signal, and calculating the phase difference according to the voltage instantaneous phase and current instantaneous phase;

[0008] Constructing a non-linear adjustment function according to the phase difference, constructing a phase difference expression, and respectively deriving the composite inductance and capacitance according to the phase difference expression, to obtain an inductance derivative formula and a capacitance derivative formula;

[0009] Constructing a parameter iterative update rule for the composite inductance and capacitance according to the non-linear adjustment function, the inductance derivative formula and the capacitance derivative formula;

[0010] Obtaining the updated composite inductance and capacitance according to the parameter iterative update rule, and tuning according to the updated composite inductance and capacitance.

[0011] In some embodiments, the step of collecting voltage signal and current signal of the drone secondary coil every first preset time and constructing voltage complex analytic signal and current complex analytic signal according to the voltage signal and the current signal comprises:

[0012] The voltage signal and the current signal are collected according to the following formula:

[0013] ;

[0014] wherein, 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 primary excitation frequency, , are the phase angles of the voltage and the current, respectively;

[0015] The Hilbert transform is performed on the instantaneous voltage signal and the instantaneous current signal, and the complex analytic signal is constructed according to the following formula:

[0016] ;

[0017] wherein, , are the imaginary part signals corresponding to the voltage signal and the current signal after the Hilbert transform, respectively, and j is the imaginary unit, and are the voltage complex analytic signal and the current complex analytic signal, respectively.

[0018] 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:

[0019] The voltage instantaneous phase and the current instantaneous phase are calculated according to the following formula:

[0020] ;

[0021] 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;

[0022] The phase angle is obtained according to the following formula:

[0023] ;

[0024] The phase difference is obtained according to the following formula:

[0025]

[0026] wherein, is the phase difference.

[0027] In some embodiments, the step of constructing the phase difference expression according to the phase difference includes:

[0028] The nonlinear adjustment function is constructed according to the following formula:

[0029]

[0030] determining whether the phase difference is greater than a first preset threshold value;

[0031] if the phase difference is greater than the first preset threshold value, then ;

[0032] if the phase difference is less than or equal to the first preset threshold value, then ;

[0033] The phase difference expression is:

[0034] ;

[0035] wherein, is the nonlinear adjustment function, is the nonlinear adjustment coefficient, is the difference between the inductive reactance and the capacitive reactance, i.e., the imaginary part of the loop reactance, and R is the total resistance of the secondary loop.

[0036] In some embodiments, the step of respectively deriving the composite inductance and the capacitance according to the phase difference expression to obtain the inductance derivative formula and the capacitance derivative formula includes:

[0037] The composite inductance is derived according to the phase difference expression:

[0038] ;

[0039] wherein, is substituted to obtain the inductance derivative formula:

[0040] ;

[0041] The composite capacitance is derived according to the phase difference expression:

[0042] ;

[0043] wherein, is substituted to obtain the capacitance derivative formula:

[0044] ;

[0045] wherein, is an inductance reactance, is a capacitance reactance.

[0046] In some embodiments, the step of constructing the parameter iterative update rule with respect to the composite inductance and capacitance according to the non-linear adjustment function, the inductance derivative formula, and the capacitance derivative formula comprises:

[0047] The parameter iterative update rule is constructed according to the following formula:

[0048]

[0049] 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 length coefficient for controlling the magnitude of each iteration update, is a Sigmoid function:

[0050] ;

[0051] wherein, is a slope adjustment parameter.

[0052] In a second aspect, the present application provides a dynamic tuning system for a UAV, the system comprising:

[0053] a signal acquisition module configured to acquire voltage and current signals of a secondary coil of the UAV every first preset time, and to construct a voltage complex analytic signal and a current complex analytic signal based on the voltage and current signals;

[0054] a phase difference calculation module configured to calculate a voltage instantaneous phase and a current instantaneous phase based on the voltage complex analytic signal and the current complex analytic signal, and to calculate a phase difference based on the voltage instantaneous phase and the current instantaneous phase;

[0055] a derivative calculation module configured to construct a non-linear adjustment function based on the phase difference, to construct a phase difference expression, and to calculate a derivative of the composite inductance and capacitance based on the phase difference expression, to obtain an inductance derivative formula and a capacitance derivative formula, respectively;

[0056] a rule construction module configured to construct a parameter iterative update rule with respect to the composite inductance and capacitance based on the non-linear adjustment function, the inductance derivative formula, and the capacitance derivative formula;

[0057] a tuning module 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.

[0058] In a third aspect, the present application provides a storage medium storing one or more programs, which when executed by a processor, implement the dynamic tuning method of the unmanned aerial vehicle as described above.

[0059] In a fourth aspect, the present application provides an electronic device comprising a memory and a processor, wherein:

[0060] The memory is configured to store a computer program;

[0061] The processor is configured to execute the computer program stored in the memory, and implement the dynamic tuning method of the unmanned aerial vehicle as described above.

[0062] Compared with the prior art, the present application has the following advantages:

[0063] The present application introduces adjustable capacitance and variable inductance in 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 process of the unmanned aerial vehicle flying 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 adjustment capacitance and inductance is output approximately linear when the phase difference is small (to ensure sensitivity), and when the phase difference is large, the output reaches the maximum value of the function (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 adjustment 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. BRIEF DESCRIPTION OF DRAWINGS

[0064] Figure 1 The flow chart of the dynamic tuning method of the unmanned aerial vehicle according to an embodiment of the present application;

[0065] Figure 2 The structural schematic diagram of the dynamic tuning system of the unmanned aerial vehicle according to an embodiment of the present application.

[0066] The following specific embodiments will further illustrate the present application in combination with the above drawings. DETAILED DESCRIPTION

[0067] 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.

[0068] 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:

[0069] 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;

[0070] It should be noted that in electromagnetic coupling induction power extraction, the primary excitation coil is powered by a fixed power source on the ground or wire side in the form of a high-frequency sine wave, while the secondary coil is installed on the UAV platform. When the two are close to each other, they form an electromagnetic coupling circuit, and energy is transferred to the secondary coil through the magnetic field.

[0071] Furthermore, the expression for the secondary resonant frequency is:

[0072] ;

[0073] Where L and C are complex variable inductance and capacitance, respectively.

[0074] The above formula is derived from the classical theory of series resonant circuits, showing that the product of inductance and capacitance determines the resonant frequency. By adjusting L or C, the resonant frequency can be dynamically changed, thereby achieving matching with the main frequency and maximizing electromagnetic energy coupling efficiency.

[0075] Based on this, the voltage and current signals of the secondary coil are first periodically acquired using a high-speed analog-to-digital converter (ADC):

[0076] ;

[0077] in, It is an instantaneous voltage signal. Voltage amplitude, It is an instantaneous current signal. The current amplitude, is the angular frequency, f is the primary side excitation frequency, , are the phase angles of the voltage and current, respectively.

[0078] In addition, in some embodiments, in order to collect the voltage signal and the current signal of the instantaneous phase difference secondary side coil, the following processing flow is proposed based on the Hilbert transform theory:

[0079] 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 the 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.

[0080] Therefore, the Hilbert transform is performed on the voltage signal and the current signal to obtain their corresponding imaginary part signals and, respectively, and the complex analytic signal is constructed:

[0081] ;

[0082] wherein, , are the imaginary part signals corresponding to the voltage signal and the current signal after the Hilbert transform, respectively, and j is the imaginary unit, and are the voltage complex analytic signal and the current complex analytic signal, respectively, and the real part is the original signal and the imaginary part is the Hilbert transform result.

[0083] In addition, in some embodiments, the Hilbert transform is defined as:

[0084] ;

[0085] Such a piecewise integral function can avoid singular points and only integrate on both sides of the singular point. Finally, take the limit to approach. The output Hilbert transform is 90° phase shifted from the original signal, which is used to extract the instantaneous phase by forming a complex analytic signal with the original signal.

[0086] 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;

[0087] It should be noted that the voltage instantaneous phase and the current instantaneous phase are calculated according to the following formula:

[0088] ;

[0089] wherein, are voltage instantaneous phase and current instantaneous phase respectively, is a phase unwrapping function, which is used to eliminate the discontinuity problem of phase jump, is the phase angle of the analytical signal;

[0090] The phase angle is obtained according to the following formula:

[0091]

[0092] The phase difference is obtained according to the following formula:

[0093]

[0094] wherein, is the phase difference.

[0095] In summary, and are the real part and the imaginary part of the analytical 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 (180°) to the phase when the phase mutation is checked and exceeds , so as to make the phase curve a continuous change curve.

[0096] In addition, it should be pointed out that in the traditional electromagnetic coupling power taking 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. In order to solve the above problems, the present application introduces the Hilbert transform theory, constructs the complex form of the voltage and current signals, and extracts the instantaneous phase. At the same time, with the help of the unwrap function, the phase mutation is eliminated, and the phase curve is smooth and continuous, 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.

[0097] Step S103: constructing a nonlinear adjustment 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;

[0098] 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 adjustment function:

[0099]

[0100] ​​If the phase difference is greater than a first preset threshold, it indicates that the function is in a small phase difference, at which the approximation is linear , to ensure the sensitivity and adjustment accuracy; if the phase difference is less than or equal to the first preset threshold, it indicates that the function is in a large phase difference, which will saturate the output , to prevent the oscillation or loss of control caused by the excessively large adjustment step. The function is set by experimental optimization to ensure the stable operation of the system. According to the current measured phase difference, the function outputs an adjustment signal to indicate the amplitude that the system needs to adjust according to the current phase difference.

[0101] 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:

[0102] .

[0103] wherein, is the equivalent complex impedance, and R is the total resistance of the secondary side loop.

[0104] According to the equivalent impedance model of the secondary side and the geometric definition of the complex impedance under the alternating current steady state, the phase difference expression is constructed as:

[0105] ;

[0106] wherein, is a nonlinear adjustment function, is a nonlinear adjustment coefficient, which is used to control the sensitivity and response range of the adjustment function, so that the system maintains high sensitivity when the phase difference is small, and the output tends to be saturated when the phase difference is large, to prevent oscillation or excessive adjustment, is the difference between the inductive reactance and the capacitive reactance, i.e., the virtual reactance of the loop, and R is the total resistance of the secondary side loop.

[0107] It should be noted that in the secondary side loop, the phase difference between the voltage and the current is mainly determined by the virtual part of the impedance. Under the ideal resonance condition, the virtual part is zero, and the voltage and current are in phase; when there is a reactance difference, 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 influence of inductance and capacitance changes on the system phase difference, and becomes the mathematical basis for subsequent dynamic adjustment.

[0108] In summary, in the dynamic tuning process, if a linear adjustment method is directly used, it is easy to cause an excessively large parameter update step when the phase difference is large, thereby causing the system to oscillate or even lose control; and when the phase difference is small, the sensitivity may be insufficient to correct in time, causing a delay in frequency matching. Based on this, the present application proposes a nonlinear adjustment function. The function outputs an approximate linearity when the phase difference is small, to ensure the sensitivity and adjustment accuracy; and outputs a maximum value when the phase difference is large, to prevent the oscillation or loss of control caused by the excessively large adjustment step.

[0109] Step S104: Constructing parameter iterative update rules for composite inductance and capacitance according to the nonlinear adjustment function, the inductance derivative, and the capacitance derivative;

[0110] It should be noted that, in order to measure the sensitivity of the phase difference to the changes of inductance and capacitance, accurate adjustment is realized. 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:

[0111] Derivate the composite inductance according to the phase difference expression:

[0112] ;

[0113] Wherein, , and the inductance derivative is obtained by substitution:

[0114] ;

[0115] Derivate the composite capacitance according to the phase difference expression:

[0116] ;

[0117] Wherein, , and the capacitance derivative is obtained by substitution:

[0118] ;

[0119] Wherein, is the inductance reactance, is the capacitance reactance.

[0120] In summary, for inductance, the partial derivative expression adjusts the positive influence of the phase difference, and the step size can be enlarged or reduced according to the sensitivity. For capacitance, the expression indicates that the influence of capacitance on the phase difference is nonlinear and related to the current value of the parameter. It can guide the adjustment direction and step size, realize targeted parameter adjustment, and improve the tuning efficiency.

[0121] In addition, in some embodiments, the parameter iterative update rules are constructed according to the following formula:

[0122]

[0123] Wherein, , are the inductance of the k+1th and kth iterations, respectively, , are the capacitance of the k+1th and kth iterations, respectively, is the adjustment step size coefficient, used to control the amplitude of each iteration update is a Sigmoid function:

[0124] ;

[0125] wherein, is a slope adjustment parameter, the output range of the rule is (-0.5, 0.5), which realizes the size limitation of the output. Prevent the update amplitude from being too large. According to the above rule, the updated capacitance and inductance can be obtained. The and are transmitted to the tuning module, such as the MEMS capacitor array or the variable inductance element, to complete the fine tuning of the inductance and capacitance. Finally, the system enters the next sampling period, reacquires the voltage and current, and continues to iterate the adjustment.

[0126] Step S105: obtaining updated composite inductance and capacitance according to the parameter iterative update rule, and tuning according to the updated composite inductance and capacitance.

[0127] It should be pointed out 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. The existing system often lacks 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 change of inductance and capacitance, the system can judge the influence degree of parameter change on the phase difference, and combine the nonlinear adjustment function for iterative update. This method not only considers the current state of the parameters, but also introduces the limiting function Sigmoid function to avoid system oscillation or loss of control caused by excessive adjustment amplitude, and thus can realize the adaptive and accurate adjustment of inductance and capacitance, so that the secondary side circuit can still maintain stable resonance in a dynamic environment.

[0128] 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 process of the UAV flight 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 output 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.

[0129] As shown in Figure 2 An embodiment of the application provides a dynamic tuning system of a UAV, the system comprising:

[0130] A signal acquisition module 10 is configured to acquire voltage signals and current signals of a 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;

[0131] 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;

[0132] 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;

[0133] 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;

[0134] 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.

[0135] The application further provides a storage medium having one or more programs stored thereon, and the programs are executed by a processor to implement the dynamic tuning method of the UAV.

[0136] Another aspect of the present 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 in the memory to implement the dynamic tuning method of the unmanned aerial vehicle.

[0137] Those skilled in the art can understand that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a list of executable instructions for implementing the logic function, which can be embodied in any computer readable medium for use by or in connection with an instruction execution system, apparatus or device, such as a computer-based system, a system including a processor or other system that can fetch the instructions from the instruction execution system, apparatus or device and execute the instructions, or in conjunction with these instructions execution system, apparatus or device. For the purpose of the present description, the "computer readable medium" can be any device that can contain, store, communicate, propagate or transport programs for use by or in connection with an instruction execution system, apparatus or device, or in conjunction with these instructions execution system, apparatus or device.

[0138] More specific examples (a non-exhaustive list) of the computer readable medium include the following: an electrical connection having one or more wires (electrical devices), a portable computer diskette (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, by optically scanning the paper or other suitable medium, then electronically converted into a form that is suitable for use in a computer system, stored, and / or otherwise processed.

[0139] It should be understood that parts of the present application can be implemented in hardware, software, firmware or a combination thereof. In the above described embodiments, a plurality of steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, and as in another embodiment, it can be implemented using any or a combination of the following technologies, which are well known in the art: discrete logic circuitry having logic gates for implementing logic functions upon data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

[0140] While the embodiments of the application have been illustrated and described in detail, it will be readily apparent to those skilled in the art that various modifications and changes can be made to the embodiments without departing from the scope and spirit of the application, as described in the claims. Moreover, the application described is not limited in its application to the details set forth in the description or illustrated in the drawings. The application is capable of other embodiments and of being practiced or carried out in various ways.

Claims

1. A dynamic tuning method for an unmanned aerial vehicle (UAV), characterized in that, The method includes: The voltage and current signals of the UAV's secondary coil are acquired at first preset time intervals, and a voltage complex analysis signal and a current complex analysis signal are constructed based on the voltage and current signals. The instantaneous phase of the voltage and the instantaneous phase of the current are calculated based on the complex analytical voltage signal and the complex analytical current signal, and the phase difference is calculated based on the instantaneous phase of the voltage and the instantaneous phase of the current. A nonlinear adjustment function is constructed based on the phase difference, and a phase difference expression is constructed. The derivatives of the composite inductor and composite capacitor are obtained based on the phase difference expression, respectively, to obtain the derivatives of the inductor and capacitor. Construct a nonlinear adjustment function based on the following formula: Determine whether the phase difference is greater than a first preset threshold; If the phase difference is greater than the first preset threshold, then let ; If the phase difference is less than or equal to the first preset threshold, then let ; The phase difference expression is: ； in, It is a nonlinear adjustment function. The nonlinear adjustment coefficient is... R is the difference between inductive reactance and capacitive reactance, i.e., the imaginary reactance of the circuit, and R is the total resistance of the secondary circuit. Phase difference; Based on the nonlinear adjustment function, the derivative of the inductance, and the derivative of the capacitance, construct the parameter iterative update rules for the composite inductor and composite capacitor; The parameter iteration update rule is constructed based on the following formula: in, , These are the composite inductors for the (k+1)th and kth iterations, respectively. , These are the composite capacitors for the (k+1)th and kth iterations, respectively. The step size coefficient is adjusted to control the magnitude of each iteration update. For the Sigmoid function: ； in, This is the slope adjustment parameter; The updated composite inductor and composite capacitor are obtained according to the parameter iteration update rule, and the tuning is performed based on the updated composite inductor and composite capacitor.

2. The dynamic tuning method for a UAV according to claim 1, characterized in that, The step of acquiring the voltage and current signals of the UAV's secondary coil at first preset time intervals, and constructing the voltage complex analysis signal and the current complex analysis signal based on the voltage and current signals includes: Voltage and current signals are acquired using the following formulas: ； in, It is an instantaneous voltage signal. Voltage amplitude, It is an instantaneous current signal. The current amplitude, Let f be the angular frequency, and f be the excitation frequency of the principal side. , These are the phase angles of voltage and current, respectively; Perform Hilbert transform on the instantaneous voltage and instantaneous current signals, and construct a complex analytic signal according to the following formula: ； in, , These are the imaginary parts of the voltage and current signals after Hilbert transformation, respectively, where j is the imaginary unit. and These are the voltage complex analytic signal and the current complex analytic signal, respectively.

3. The dynamic tuning method for a UAV according to claim 2, characterized in that, The steps of calculating the instantaneous voltage phase and the instantaneous current phase based on the complex voltage signal and the complex current signal, and calculating the phase difference based on the instantaneous voltage phase and the instantaneous current phase, include: The instantaneous phase of voltage and instantaneous phase of current are calculated using the following formulas: ； in, , These are the instantaneous phases of the voltage and the current, respectively. Let be the phase expansion function. This corresponds to the phase angle of the analytical signal; The phase angle can be obtained using the following formula: ； The phase difference can be obtained using the following formula: in, Let be the phase difference at time t.

4. The dynamic tuning method for a UAV according to claim 3, characterized in that, The step of differentiating the composite inductor and composite capacitor according to the phase difference expression to obtain the derivatives of the inductor and capacitor respectively includes: Differentiate the composite inductance based on the phase difference expression: ； in, Substituting into the equation, we obtain the derivative of the inductance: ； Differentiate the composite capacitance according to the phase difference expression: ； in, Substituting into the equation, we obtain the derivative of the capacitance: ； in, It is a composite inductor reactance. It is the capacitive reactance of a composite capacitor.

5. A dynamic tuning system for an unmanned aerial vehicle (UAV), characterized in that, The system includes: The signal acquisition module is used to acquire the voltage and current signals of the UAV's secondary coil at first preset time intervals, and construct voltage complex analysis signals and current complex analysis signals based on the voltage and current signals; The phase difference calculation module is used to calculate the instantaneous voltage phase and the instantaneous current phase based on the voltage complex analytical signal and the current complex analytical signal, and to calculate the phase difference based on the voltage instantaneous phase and the current instantaneous phase; The differentiation module is used to construct a nonlinear adjustment function based on the phase difference, construct a phase difference expression, and differentiate the composite inductor and composite capacitor based on the phase difference expression to obtain the inductor differentiation formula and the capacitor differentiation formula respectively. Construct a nonlinear adjustment function based on the following formula: Determine whether the phase difference is greater than a first preset threshold; If the phase difference is greater than the first preset threshold, then let ; If the phase difference is less than or equal to the first preset threshold, then let ; The phase difference expression is: ； in, It is a nonlinear adjustment function. The nonlinear adjustment coefficient is... R is the difference between inductive reactance and capacitive reactance, i.e., the imaginary reactance of the circuit, and R is the total resistance of the secondary circuit. Phase difference; The rule construction module is used to construct parameter iterative update rules for composite inductors and composite capacitors based on the nonlinear adjustment function, the inductance derivative, and the capacitance derivative. The parameter iteration update rule is constructed based on the following formula: in, , These are the composite inductors for the (k+1)th and kth iterations, respectively. , These are the composite capacitors for the (k+1)th and kth iterations, respectively. The step size coefficient is adjusted to control the magnitude of each iteration update. For the Sigmoid function: ； in, This is the slope adjustment parameter; The tuning module is used to obtain updated composite inductors and composite capacitors according to the parameter iterative update rules, and to perform tuning based on the updated composite inductors and composite capacitors.

6. A storage medium, characterized in that, The storage medium stores one or more programs that, when executed by a processor, implement the dynamic tuning method for the UAV as described in any one of claims 1-4.

7. An electronic device, characterized in that, The electronic device includes a memory and a processor, wherein: The memory is used to store computer programs; When the processor executes the computer program stored in the memory, it implements the dynamic tuning method of the UAV as described in any one of claims 1-4.

Images