Hybrid-based evtol drone control method and related apparatus

Abstract

The application discloses a kind of based on hybrid power eVTOL unmanned aerial vehicle control method and related device, its method includes: flight control computer is based on flight control instruction obtains the flight phase that eVTOL unmanned aerial vehicle currently is in, the flight phase includes vertical take-off and landing phase, overdrive mode phase, cruise phase and emergency mode phase;The flight control computer indexes to the flight control strategy corresponding to the flight phase that eVTOL unmanned aerial vehicle currently is in;The flight control computer controls the turbine power generation system and / or the power battery pack based on the flight control strategy to N cruise electric drive unit and M vertical take-off electric drive unit on the eVTOL unmanned aerial vehicle Power supply processing.In the embodiment of the application, turbine power generation system and power battery pack are connected in parallel to supply power for eVTOL unmanned aerial vehicle, while combining redundancy flight control system, so as to achieve optimization in voyage expansion and safety performance improvement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle control, in particular to a hybrid power-based eVTOL unmanned aerial vehicle control method and related device. BACKGROUND

[0002] eVTOL (electric vertical take-off and landing aircraft) is a new type of aircraft, which originates from the demand for efficient, convenient and green clean air traffic; at present, the domestic eVTOL whole machine enterprises mostly adopt multi-rotor or tilting rotor technology route, and the compound wing configuration is mainly composed of fixed wings and independent power systems for vertical take-off and landing and cruising, without the need for complex tilting mechanism to change the direction of the rotor or wing, reducing a large number of mechanical transmission components, joint bearings and related hydraulic or electric control systems, etc., thereby reducing the risk of mechanical failure and improving the reliability and maintainability of the system.

[0003] The mainstream battery energy density of eVTOL industry is at the level of 250-400WH / kg, which still needs to be improved for commercial application; although many main machine factories and battery suppliers actively invest in solid-state battery research and development, they try to meet the commercialization needs by virtue of the advantages of high energy density, but the research and development progress is slow and no substantial breakthrough has been made. SUMMARY

[0004] The purpose of the present application is to overcome the shortcomings of the prior art, and the present application provides a hybrid power-based eVTOL unmanned aerial vehicle control method and related device, which realizes parallel connection of a turbine power generation system and a power battery pack to supply power to an eVTOL unmanned aerial vehicle, thereby optimizing the range expansion and safety performance improvement.

[0005] In order to solve the above technical problems, the present application provides a hybrid power-based eVTOL unmanned aerial vehicle control method, which is applied to an eVTOL unmanned aerial vehicle, a turbine power generation system and a power battery pack are arranged on the eVTOL unmanned aerial vehicle, and the eVTOL unmanned aerial vehicle is a compound wing unmanned aerial vehicle, and the method comprises:

[0006] The flight control computer obtains the flight phase in which the eVTOL unmanned aerial vehicle is currently located based on the flight control instruction, and the flight phase includes a vertical take-off and landing phase, a transition mode phase, a cruising phase and an emergency mode phase;

[0007] The flight control computer indexes the flight control strategy corresponding to the flight phase in which the eVTOL unmanned aerial vehicle is currently located;

[0008] The flight control computer controls the turbine power generation system and / or the power battery pack to supply power to N cruising electric drive units and M vertical take-off electric drive units on the eVTOL unmanned aerial vehicle based on the flight control strategy, wherein the M vertical take-off electric drive units are evenly divided into 4 symmetrical control quadrants, and the resultant moment balance is maintained to stabilize the attitude of the eVTOL unmanned aerial vehicle when the M vertical take-off electric drive units are running.

[0009] Optionally, the flight control computer obtains the flight phase in which the eVTOL unmanned aerial vehicle is currently located based on the flight control instruction, including:

[0010] The flight control computer obtains the current flight state information of the eVTOL unmanned aerial vehicle;

[0011] The flight control computer simulates the simulated flight state information of the eVTOL unmanned aerial vehicle after executing the flight control instruction;

[0012] Based on the current flight state information and the simulated flight state information, the flight phase in which the eVTOL unmanned aerial vehicle is currently located is obtained.

[0013] Optionally, the flight control computer indexes the flight control strategy corresponding to the flight phase in which the eVTOL unmanned aerial vehicle is currently located, including:

[0014] The flight control computer indexes the flight control strategy corresponding to the flight phase in which the eVTOL unmanned aerial vehicle is currently located in the flight control strategy library using the flight phase in which the eVTOL unmanned aerial vehicle is currently located;

[0015] The flight control strategy library stores flight control strategies corresponding to different flight phases.

[0016] Optionally, the flight control strategy corresponding to the different flight phases includes:

[0017] When the flight phase is a vertical take-off and landing phase, the flight control strategy is to call the power battery pack to implement a peak power priority power supply strategy;

[0018] When the flight phase is an overdrive mode phase, the power battery pack implements priority power supply, and the turbine power generation system dynamically supplements the required additional power;

[0019] When the flight phase is a cruising phase, the flight control strategy is to perform full power supply by the turbine power generation system in constant efficiency operation and optimal working condition point, and to perform charging operation to the power battery pack with the remaining power;

[0020] When the flight phase is an emergency mode phase, the flight control strategy is to execute a reduced output to meet a minimum power requirement for safe flight, and the flight control computer performs coordinated power supply control based on the states of the power battery pack and the turbine power generation system and fault codes.

[0021] Optionally, the turbine power generation system consists of a turbine engine mechanically driving a turbine generator; the electric energy generated by the turbine power generation system is rectified and then connected to an 800V high-voltage DC bus; the power battery pack is connected to the 800V high-voltage DC bus.

[0022] Optionally, the flight control computer controls the turbine power generation system and / or the power battery pack to supply power to the N cruise electric drive units and the M vertical take-off electric drive units on the eVTOL unmanned aerial vehicle based on the flight control strategy, including:

[0023] The flight control computer obtains the running power supply state of the turbine power generation system and the power supply state of the power battery pack set in the flight control strategy;

[0024] The flight control computer performs power supply processing to the N cruise electric drive units and the M vertical take-off electric drive units on the eVTOL unmanned aerial vehicle based on the running power supply state of the turbine power generation system and the power supply state of the power battery pack set in the flight control strategy.

[0025] Optionally, when the M vertical take-off electric drive units are running, the resultant moment balance that maintains the attitude stability of the eVTOL unmanned aerial vehicle includes:

[0026] When the M vertical take-off electric drive units are running, the flight control computer detects the M vertical take-off electric drive units on the eVTOL unmanned aerial vehicle in real time based on high-frequency sampling to obtain a detection result;

[0027] When any one of the vertical take-off electric drive units in the detection result has lift output attenuation or loss, a first control quadrant of the vertical take-off electric drive unit with lift output attenuation or loss is obtained.

[0028] The flight control computer controls at least one vertical take-off electric drive unit remaining in the first control quadrant to perform dynamic lift compensation processing according to proportional torque to maintain the lift resultant moment balance of the four control quadrants of the eVTOL unmanned aerial vehicle, and the total lift vector is maintained greater than a preset value.

[0029] In addition, the embodiment of the present application also provides a hybrid-based eVTOL unmanned aerial vehicle control device, which is applied to an eVTOL unmanned aerial vehicle, a turbine power generation system and a power battery pack are arranged on the eVTOL unmanned aerial vehicle, and the eVTOL unmanned aerial vehicle is a compound wing unmanned aerial vehicle, and the device comprises:

[0030] An obtaining module is configured to obtain, by a flight control computer, a flight phase in which the eVTOL unmanned aerial vehicle currently stays, the flight phase comprising a vertical take-off and landing phase, an over-mode phase, a cruising phase and an emergency mode phase;

[0031] An indexing module is configured to index, by the flight control computer, to a flight control strategy corresponding to the flight phase in which the eVTOL unmanned aerial vehicle currently stays;

[0032] A control module is configured to control, by the flight control computer, the turbine power generation system and / or the power battery pack to supply power to N cruising electric drive units and M vertical take-off electric drive units on the eVTOL unmanned aerial vehicle, wherein the M vertical take-off electric drive units are evenly divided into four symmetrical control quadrants, and a resultant moment balance for maintaining the attitude stability of the eVTOL unmanned aerial vehicle is maintained when the M vertical take-off electric drive units are running.

[0033] In addition, the embodiment of the present application also provides an electronic device comprising a processor and a memory, wherein the processor runs a computer program or code stored in the memory to implement the eVTOL unmanned aerial vehicle control method according to any one of the above.

[0034] In addition, the embodiment of the present application also provides a computer readable storage medium for storing a computer program or code, when the computer program or code is executed by a processor, the eVTOL unmanned aerial vehicle control method according to any one of the above is implemented.

[0035] In the embodiment of the present application, the turbine power generation system and the power battery pack are arranged on the eVTOL unmanned aerial vehicle, and the turbine power generation system and the power battery pack are connected in series and parallel to a 800V high-voltage direct-current busbar; then different flight control strategies are executed to perform power supply processing according to different flight phases, the turbine power generation system and the power battery pack are connected in series and parallel to supply power to the eVTOL unmanned aerial vehicle, so that the optimization in the aspects of flight range expansion and safety performance improvement is achieved; at the same time, the weight of the eVTOL unmanned aerial vehicle can be greatly reduced; and the comprehensive energy consumption is significantly reduced, and the flight range is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present 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 present 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 a hybrid power-based eVTOL unmanned aerial vehicle control method in an embodiment of the present application.

[0038] Figure 2 is a flowchart of a hybrid power-based eVTOL unmanned aerial vehicle control method in another embodiment of the present application.

[0039] Figure 3 is a structural composition diagram of a hybrid power-based eVTOL unmanned aerial vehicle control device in an embodiment of the present application.

[0040] Figure 4 is a structural composition diagram of an electronic device in an embodiment of the present application.

[0041] Figure 5 is a front view of an eVTOL unmanned aerial vehicle in an embodiment of the present application.

[0042] Figure 6 is a top view of an eVTOL unmanned aerial vehicle in an embodiment of the present application.

[0043] Figure 7 is an isometric view of an eVTOL unmanned aerial vehicle in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0045] Embodiment one, please refer to Figure 1 , Figure 1 is a flowchart of a hybrid power-based eVTOL unmanned aerial vehicle control method in an embodiment of the present application.

[0046] As Figure 1 shown, a hybrid power-based eVTOL unmanned aerial vehicle control method is applied to an eVTOL unmanned aerial vehicle, a turbine power generation system and a power battery pack are arranged on the eVTOL unmanned aerial vehicle, and the eVTOL unmanned aerial vehicle is a compound wing unmanned aerial vehicle, and the method comprises:

[0047] S101: Obtain the flight phase in which the eVTOL unmanned aerial vehicle currently stays based on the flight control instruction by the flight control computer, wherein the flight phase includes a vertical take-off and landing phase, an over-mode phase, a cruising phase and an emergency mode phase;

[0048] In the embodiment of the present application, the flight control computer obtains the flight phase in which the eVTOL unmanned aerial vehicle currently stays based on the flight control instruction, including: the flight control computer obtains the current flight state information of the eVTOL unmanned aerial vehicle; the flight control computer simulates the simulation flight state information of the eVTOL unmanned aerial vehicle after executing the flight control instruction; and the flight phase in which the eVTOL unmanned aerial vehicle currently stays is obtained based on the current flight state information and the simulation flight state information.

[0049] Specifically, please refer to Figures 5-7 ; The eVTOL unmanned aerial vehicle includes a body, a tail wing, a wing, a power battery pack, a cruising electric drive unit and a blowing electric drive unit, wherein a turbine power generation system is arranged inside the body (not shown in the figure). In this embodiment, the eVTOL unmanned aerial vehicle adopts a full composite material integrally formed body and a composite wing configuration, and realizes vertical take-off and high-efficiency cruising in combination with an oil-electric hybrid power system. In terms of power configuration, 16 high-power electric drive units are configured to provide vertical lift, and 4 cruising electric drive units are configured to generate cruising thrust. The wing improves the aerodynamic efficiency in the cruising phase. The electric energy output by the turbine power generation system is rectified and then connected to an 800V high-voltage direct-current busbar. The 800V high-voltage direct-current busbar is connected in parallel with the power battery pack to supply power to the electric propulsion system, and can also be connected in series to charge the power battery pack. The power battery pack preferentially responds to the peak power demand in the vertical take-off and landing phase, and the turbine system operates at the best fuel efficiency in the cruising phase to provide baseline power and recharge the battery. A balance is achieved between performance and energy efficiency, and system safety redundancy is improved. The eVTOL unmanned aerial vehicle can realize the cancellation of the mechanical tilting mechanism through the above structure to avoid transmission failure risk, reduce maintenance complexity, and improve the lift in the cruising phase in combination with the wing-body fusion design.

[0050] When controlling the eVTOL unmanned aerial vehicle, the flight control instruction needs to be obtained first, that is, the flight control computer receives the flight control instruction, which is sent by the control end or autonomously generated by the eVTOL unmanned aerial vehicle according to its own conditions. When the flight control instruction is obtained, the flight control computer will obtain the flight phase in which the eVTOL unmanned aerial vehicle currently stays through the flight control instruction, and the flight phase includes a vertical take-off and landing phase, an over-mode phase, a cruising phase and an emergency mode phase.

[0051] That is, the flight control computer will first obtain the current flight state information of the eVTOL drone; then obtain the simulated flight state information of the eVTOL drone after executing the flight control instruction through simulation; confirm the flight phase in which the eVTOL drone currently stays according to the change between the current flight state information and the simulated flight state information, wherein the flight phase in which the eVTOL drone currently stays is the flight phase corresponding to the flight control instruction.

[0052] S102: The flight control computer indexes to the flight control strategy corresponding to the flight phase in which the eVTOL drone currently stays;

[0053] In the specific implementation of the present application, the flight control computer indexes to the flight control strategy corresponding to the flight phase in which the eVTOL drone currently stays, including: the flight control computer indexes to the flight control strategy corresponding to the flight phase in which the eVTOL drone currently stays in the flight control strategy library; the flight control strategy library stores flight control strategies corresponding to different flight phases.

[0054] Further, the flight control strategies corresponding to different flight phases include: when the flight phase is a vertical take-off and landing phase, the flight control strategy is to call the power battery pack to implement a peak power priority power supply strategy; when the flight phase is an over-mode phase, the flight control strategy is to implement priority power supply for the power battery pack and the turbine power generation system dynamically supplements the required additional power; when the flight phase is a cruising phase, the flight control strategy is to implement full power supply by the turbine power generation system in constant efficiency operation and optimal working condition point, and to perform charging operation on the remaining power to the power battery pack; when the flight phase is an emergency mode phase, the flight control strategy is to implement de-rating output to meet the minimum power requirement for safe flight, and the flight control computer performs coordinated power supply control based on the state and fault code of the power battery pack and the turbine power generation system.

[0055] Further, the turbine power generation system is formed by a turbine engine mechanically driving a turbine generator; the electric energy generated by the turbine power generation system is rectified and then connected to an 800V high-voltage direct-current bus; the power battery pack is connected to the 800V high-voltage direct-current bus.

[0056] Specifically, the flight control computer indexes to the flight control strategy corresponding to the flight phase in which the eVTOL drone currently stays in the flight control strategy library; wherein the flight control strategy library stores flight control strategies corresponding to different flight phases.

[0057] For different flight stages, there are corresponding flight control strategies; for example, in the vertical take-off and landing stage, the power system actively calls the high-rate power battery pack to implement the peak power priority power supply strategy, ensuring that the electric drive system realizes the millisecond-level dynamic response performance of torque response time < 10 ms to meet the requirements of transient response of the propulsion system; in the transition mode stage, it is smoothly switched to the turbine generator system and battery cooperative mode; after entering the cruising stage, the turbine generator system supplies power at the best fuel efficiency and charges the battery, maintaining the optimal operating state of constant efficiency; in the emergency mode stage, the reduced output meets the minimum power requirement for safe flight, and the flight control computer coordinates the power supply relationship between the two according to the SOC of the power battery, the state of the turbine generator, fault codes and other factors.

[0058] In the technical solution, by setting a multi-level redundant architecture combined with an intelligent power distribution strategy, the probability of system catastrophic failure is effectively reduced, thereby significantly improving the airworthiness of the aircraft; in an emergency, the battery can independently output 70% of the power, ensuring that the aircraft can maintain safe flight; this design realizes global optimization of range and energy efficiency, improving the overall performance and reliability of the aircraft.

[0059] Meanwhile, the turbine generator system is formed by a turbine engine mechanically driving a turbine generator; when the turbine generator system generates electricity, the generated electricity is rectified and connected to an 800V high-voltage DC bus; the power battery pack is connected to the 800V high-voltage DC bus; the 800V high-voltage DC bus is connected to the cruising electric drive unit and the vertical take-off electric drive unit of the eVTOL unmanned aerial vehicle, and performs power supply for the cruising electric drive unit and the vertical take-off electric drive unit.

[0060] S103: The flight control computer controls the turbine generator system and / or the power battery pack to supply power to N cruising electric drive units and M vertical take-off electric drive units on the eVTOL unmanned aerial vehicle based on the flight control strategy, wherein the M vertical take-off electric drive units are evenly divided into 4 symmetrical control quadrants, and the moment balance of the attitude stability of the eVTOL unmanned aerial vehicle is maintained when the M vertical take-off electric drive units are running.

[0061] In the implementation of the present application, the flight control computer controls the turbine power generation system and / or the power battery pack to supply power to the N cruise electric drive units and the M vertical take-off electric drive units on the eVTOL unmanned aerial vehicle based on the flight control strategy, including: the flight control computer obtains the running power supply state of the turbine power generation system and the power supply state of the power battery pack set in the flight control strategy; the flight control computer controls the N cruise electric drive units and the M vertical take-off electric drive units on the eVTOL unmanned aerial vehicle based on the running power supply state of the turbine power generation system and the power supply state of the power battery pack set in the flight control strategy.

[0062] Further, the moment balance of the combined force that maintains the attitude stability of the eVTOL unmanned aerial vehicle when the M vertical take-off electric drive units are running, including: when the M vertical take-off electric drive units are running, the flight control computer detects the M vertical take-off electric drive units on the eVTOL unmanned aerial vehicle in real time based on high-frequency sampling, and obtains a detection result; when there is any vertical take-off electric drive unit in the detection result that appears lift output attenuation or loss, obtain the first control quadrant where the vertical take-off electric drive unit appears lift output attenuation or loss; the flight control computer controls at least one vertical take-off electric drive unit remaining in the first control quadrant to perform dynamic lift compensation processing according to proportional torque to maintain the lift moment balance of the four control quadrants of the eVTOL unmanned aerial vehicle, and the total lift vector is maintained greater than a preset value.

[0063] Specifically, the flight control computer obtains the running power supply state of the turbine power generation system and the power supply state of the power battery pack set in the flight control strategy; then the flight control computer controls the N cruise electric drive units and the M vertical take-off electric drive units on the eVTOL unmanned aerial vehicle based on the running power supply state of the turbine power generation system and the power supply state of the power battery pack set in the flight control strategy.

[0064] Specifically, in order to realize the safety control of the eVTOL unmanned aerial vehicle, M vertical take-off electric drive units on the eVTOL unmanned aerial vehicle are evenly divided into 4 control quadrants, and 16 vertical take-off electric drive units are arranged in the eVTOL unmanned aerial vehicle, so that there are 4 vertical take-off electric drive units in each control quadrant; when the eVTOL unmanned aerial vehicle performs a flight task, the flight control computer will detect the M vertical take-off electric drive units on the eVTOL unmanned aerial vehicle in real time through high-frequency sampling to obtain a detection result; and when any vertical take-off electric drive unit in the detection result has lift output attenuation or loss, the first control quadrant to which the vertical take-off electric drive unit with lift output attenuation or loss belongs is obtained, and then the flight control computer controls at least one vertical take-off electric drive unit remaining in normal operation in the first control quadrant to proportionally increase torque for dynamic lift compensation processing, and maintains the balance of the lift moment of the four control quadrants of the eVTOL unmanned aerial vehicle, and the total lift vector is maintained to be greater than a preset value, wherein the preset value can be 1.2 times the gravity of the eVTOL unmanned aerial vehicle.

[0065] That is, the flight control computer monitors the state of the propulsion system in real time through high-frequency sampling, and for single power unit failure condition, the system dynamically reallocates thrust strategy based on redundant control algorithm as follows: for example, when the lift output of vertical take-off electric drive unit 1 in control quadrant 1 fails, the flight control computer controls vertical take-off electric drive units 2, 3 and 4 to proportionally increase torque for dynamic lift compensation; in addition, the balance of the lift moment of control quadrant 1 and the remaining three control quadrants needs to be maintained to reduce the rolling moment, and the total lift vector needs to be continuously greater than 1.2 times the gravity of the whole machine to ensure attitude stability and safe flight.

[0066] The moment demand of the aircraft is expressed as a function of the thrust of each blade, assuming that the thrust of each blade is T i (i = 1, 2, …, 20), and the following constraint conditions are established during hovering.

[0067] Total lift equation: (m is the mass of the unmanned aerial vehicle, and g is the acceleration of gravity); while maintaining the normal thrust greater than the gravity, the constraint conditions of the pitch moment, roll moment and yaw moment are established to control the moments of pitch M {pitch} , roll M {roll} and yaw M {yaw} , and the normal acceleration, pitch, roll and other attitude values are required to be not less than a threshold value.

[0068] When the single electric power unit failure processing algorithm detects that the i electric drive unit fails through the speed and current sensors, it is judged that the thrust F i ≈0 or uncontrollable, and the failed unit i is quickly identified through the electric drive unit ID number and its state is locked as "failed" F i= 0 or a small value close to 0; remove the invalid unit tension update control efficiency matrix B, and directly construct a new B matrix only for the remaining 19 healthy units; adjust according to the attitude deviation feedback by the sensor to resist the disturbance caused by failure, and ensure that the moment generated by the remaining units can accurately offset the unbalanced moment caused by failure.

[0069] The architecture retains the eVTOL core technologies such as fly-by-wire flight control computers and distributed propulsion systems, integrates a turbine power generation system to build a hybrid power system, and is powered by power batteries during vertical take-off and landing, and continuously provides power for electric drive units and onboard equipment through the turbine power generation system during the cruising stage, thereby breaking through the range limit of pure electric aircraft.

[0070] In the embodiment of the application, a turbine power generation system and a power battery pack are arranged on the eVTOL unmanned aerial vehicle, and the turbine power generation system and the power battery pack are connected in series and parallel on an 800V high-voltage direct-current busbar; then different flight control strategies are executed to perform power supply processing according to different flight stages, the turbine power generation system and the power battery pack are connected in series and parallel to supply power to the eVTOL unmanned aerial vehicle, and a redundant flight control system is fused, so that optimization in terms of range expansion and safety performance improvement is achieved; at the same time, the weight of the eVTOL unmanned aerial vehicle can be greatly reduced; and the comprehensive energy consumption is significantly reduced, and the range is greatly improved.

[0071] Embodiment two, please refer to Figure 2 , Figure 2 is a flowchart of a hybrid power-based eVTOL unmanned aerial vehicle control method in another embodiment of the application.

[0072] As Figure 2 shown, a hybrid power-based eVTOL unmanned aerial vehicle control method is applied to an eVTOL unmanned aerial vehicle, a turbine power generation system and a power battery pack are arranged on the eVTOL unmanned aerial vehicle, and the eVTOL unmanned aerial vehicle is a compound wing unmanned aerial vehicle, and the method comprises:

[0073] S201: The flight control computer obtains current flight state information of the eVTOL unmanned aerial vehicle;

[0074] S202: The flight control computer simulates the eVTOL unmanned aerial vehicle in the simulated flight state information obtained after executing the flight control instruction;

[0075] S203: Based on the current flight state information and the simulated flight state information, the eVTOL unmanned aerial vehicle is in the flight phase;

[0076] S204: The flight control computer indexes the flight control strategy corresponding to the flight phase in which the eVTOL unmanned aerial vehicle is currently located.

[0077] S205: The flight control computer obtains the running power supply state of the turbine power generation system and the power supply state of the power battery pack set in the flight control strategy;

[0078] S206: The flight control computer performs power supply processing on the N cruise electric drive units and the M vertical take-off electric drive units on the eVTOL unmanned aerial vehicle based on the running power supply state of the turbine power generation system and the power supply state of the power battery pack set in the flight control strategy, wherein the M vertical take-off electric drive units are evenly divided into 4 symmetrical control quadrants, and the balance of the moment of the eVTOL unmanned aerial vehicle is maintained when the M vertical take-off electric drive units are running.

[0079] The specific implementation of embodiment two can be referred to in embodiment one, which will not be repeated here.

[0080] Embodiment three, please refer to Figure 3 , Figure 3 is a structural composition diagram of the hybrid power based eVTOL unmanned aerial vehicle control device in the embodiment of the application.

[0081] As Figure 3 shown, a hybrid power based eVTOL unmanned aerial vehicle control device is applied to an eVTOL unmanned aerial vehicle, a turbine power generation system and a power battery pack are arranged on the eVTOL unmanned aerial vehicle, and the eVTOL unmanned aerial vehicle is a compound wing unmanned aerial vehicle, the device comprises:

[0082] The obtaining module 301: for the flight control computer to obtain the flight phase of the eVTOL unmanned aerial vehicle based on the flight control instruction, the flight phase comprising a vertical take-off and landing phase, an over mode phase, a cruise phase and an emergency mode phase;

[0083] In the specific implementation process of the application, the flight control computer obtains the flight phase of the eVTOL unmanned aerial vehicle based on the flight control instruction, comprising: the flight control computer obtains the current flight state information of the eVTOL unmanned aerial vehicle; the flight control computer simulates the simulated flight state information of the eVTOL unmanned aerial vehicle after executing the flight control instruction; based on the current flight state information and the simulated flight state information, the flight phase of the eVTOL unmanned aerial vehicle is obtained.

[0084] Specifically, please refer to Figures 5-7The eVTOL unmanned aerial vehicle comprises a body, a tail wing, a wing, a power battery pack, a cruising electric drive unit and a vertical take-off electric drive unit, wherein a turbine power generation system is arranged inside the body (not shown in the figure), in this embodiment, the eVTOL unmanned aerial vehicle adopts a full composite material integrally formed body and a composite wing configuration, and realizes vertical take-off and landing and high-efficiency cruising in combination with an oil-electric hybrid power system; in terms of power configuration, 16 high-power electric drive units are configured to provide vertical lift, and 4 cruising electric drive units are configured to generate cruising thrust, the wing improves aerodynamic efficiency in the cruising stage; the electric energy output by the turbine power generation system is rectified and then connected to an 800V high-voltage direct-current bus, the 800V high-voltage direct-current bus is connected in parallel with the power battery pack to supply power to the electric propulsion system, and can also be connected in series to charge the power battery pack; the power battery pack preferentially responds to peak power demand in the vertical take-off and landing stage, the turbine system operates at the best fuel efficiency in the cruising stage to provide baseline power and recharge the battery; balance is achieved between performance and energy efficiency and system safety redundancy is improved; the eVTOL unmanned aerial vehicle can realize cancellation of a mechanical tilting mechanism to avoid transmission failure risks, reduce maintenance complexity, and improve lift in the cruising stage in combination with a wing-body fusion design.

[0085] In the control of the eVTOL unmanned aerial vehicle, first, flight control instructions need to be obtained, that is, a flight control computer receives flight control instructions, which are sent by a control end or autonomously generated by the eVTOL unmanned aerial vehicle according to its own conditions; when the flight control instructions are obtained, the flight control computer obtains the flight stage in which the eVTOL unmanned aerial vehicle currently stays through the flight control instructions, and the flight stage includes a vertical take-off and landing stage, a transition mode stage, a cruising stage and an emergency mode stage.

[0086] That is, the flight control computer first obtains current flight state information of the eVTOL unmanned aerial vehicle; then obtains simulated flight state information of the eVTOL unmanned aerial vehicle after the flight control instructions are executed through simulation; and finally confirms the flight stage in which the eVTOL unmanned aerial vehicle currently stays according to the change between the current flight state information and the simulated flight state information, wherein the flight stage in which the eVTOL unmanned aerial vehicle currently stays is the flight stage corresponding to the execution of the flight control instructions.

[0087] The index module 302 is used for the flight control computer to index to the flight control strategy corresponding to the flight stage in which the eVTOL unmanned aerial vehicle currently stays;

[0088] In the specific implementation process of the present application, the flight control computer indexes to the flight control strategy corresponding to the flight stage in which the eVTOL unmanned aerial vehicle currently stays, which comprises that the flight control computer indexes to the flight control strategy corresponding to the flight stage in which the eVTOL unmanned aerial vehicle currently stays in a flight control strategy library by using the flight stage; and the flight control strategy library stores flight control strategies corresponding to different flight stages.

[0089] Further, the flight control strategy corresponding to the different flight phases includes: when the flight phase is a vertical take-off and landing phase, the flight control strategy is to call the high-rate power battery pack to implement a peak power priority power supply strategy; when the flight phase is a transition mode phase, the flight control strategy is to smoothly switch to a coordinated power supply strategy of the turbine power generation system and the power battery pack, and the turbine power generation system continuously provides baseline power at an optimal fuel efficiency, and the power battery pack dynamically supplements additional power required by an aerodynamic load peak; when the flight phase is a cruising phase, the flight control strategy is that the turbine power generation system performs full power supply at a constant efficiency operation and an optimal working point, and charges the power battery pack with the remaining power; when the flight phase is an emergency mode phase, the flight control strategy is to perform a reduced output to meet the minimum power requirement for safe flight, and the flight control computer coordinates the power supply control based on the states of the power battery pack and the turbine power generation system and fault codes.

[0090] Further, the turbine power generation system is formed by a turbine engine mechanically driving a turbine generator; the electric energy generated by the turbine power generation system is rectified and then connected to an 800V high-voltage direct-current bus; the power battery pack is connected to the 800V high-voltage direct-current bus.

[0091] Specifically, the flight control computer indexes the flight control strategy corresponding to the flight phase in the flight control strategy library by using the flight phase in which the eVTOL unmanned aerial vehicle is currently located; wherein the flight control strategy library stores flight control strategies corresponding to different flight phases.

[0092] For different flight phases, there are corresponding flight control strategies; for example, in the vertical take-off and landing phase, the power system actively calls the high-rate power battery pack to implement a peak power priority power supply strategy, so as to guarantee that the electric drive system realizes a millisecond-level dynamic response performance with a torque response time < 10 ms, so as to meet the requirements of transient response of the propulsion system; in the transition mode phase, the turbine power generation system and the battery are switched to a coordinated mode, the turbine power generation system continuously provides baseline power at an optimal fuel efficiency, and the battery pack dynamically supplements additional power required by an aerodynamic load peak; after entering the cruising phase, the turbine power generation system fully supplies power and charges the battery, and maintains an optimal operation state at a constant efficiency; in the emergency mode phase, a reduced output meets the minimum power requirement for safe flight, and the flight control computer coordinates the power supply relationship between the two based on factors such as the state of charge of the power battery, the state of the turbine generator, and fault codes.

[0093] In the technical solution, the multi-level redundancy architecture is combined with the intelligent power distribution strategy to effectively reduce the probability of system disaster-level failure, thereby significantly improving the airworthiness of the aircraft; in an emergency, the battery can independently output 70% of the power to ensure that the aircraft can maintain safe flight; this design realizes global optimization of the flight range and energy efficiency, and improves the overall performance and reliability of the aircraft.

[0094] Meanwhile, the turbine power generation system is formed by a turbine engine mechanically driving a turbine generator; when the turbine power generation system generates power, the generated power is rectified and connected to an 800V high-voltage DC bus; the power battery pack is connected to the 800V high-voltage DC bus; the 800V high-voltage DC bus is connected to the cruise electric drive unit and the vertical take-off electric drive unit of the eVTOL unmanned aerial vehicle, and supplies power to the cruise electric drive unit and the vertical take-off electric drive unit.

[0095] The control module 303 is configured to control the turbine power generation system and / or the power battery pack to supply power to the N cruise electric drive units and the M vertical take-off electric drive units on the eVTOL unmanned aerial vehicle based on the flight control strategy, wherein the M vertical take-off electric drive units are evenly divided into four symmetrical control quadrants, and the balance of the moment of force that maintains the attitude of the eVTOL unmanned aerial vehicle is maintained when the M vertical take-off electric drive units are running.

[0096] In the embodiment of the present application, the flight control computer controls the turbine power generation system and / or the power battery pack to supply power to the N cruise electric drive units and the M vertical take-off electric drive units on the eVTOL unmanned aerial vehicle based on the flight control strategy, including: the flight control computer obtains the running power supply state of the turbine power generation system and the power supply state of the power battery pack set in the flight control strategy; the flight control computer controls the turbine power generation system and / or the power battery pack to supply power to the N cruise electric drive units and the M vertical take-off electric drive units on the eVTOL unmanned aerial vehicle based on the running power supply state of the turbine power generation system and the power supply state of the power battery pack set in the flight control strategy.

[0097] Further, the moment balance of the eVTOL drone is maintained when the M vertical electric drive units are running, which includes: when the M vertical electric drive units are running, the flight control computer detects the M vertical electric drive units on the eVTOL drone in real time based on high-frequency sampling to obtain a detection result; when any one of the vertical electric drive units in the detection result has lift output attenuation or loss, a first control quadrant where the vertical electric drive unit with lift output attenuation or loss is located is obtained; the flight control computer controls at least one vertical electric drive unit remaining in the first control quadrant to perform dynamic lift compensation processing according to the proportional torque to maintain the lift moment balance of the four control quadrants of the eVTOL drone, and the total lift vector is greater than a preset value.

[0098] Specifically, the flight control computer obtains the running power supply state of the turbine power generation system and the power supply state of the power battery pack set in the flight control strategy; then the flight control computer supplies power to the N cruising electric drive units and the M vertical electric drive units on the eVTOL drone through the running power supply state of the turbine power generation system and the power supply state of the power battery pack set in the flight control strategy.

[0099] Specifically, in order to realize the safety control of the eVTOL drone, the M vertical electric drive units on the eVTOL drone are evenly divided into four control quadrants, and the eVTOL drone is provided with 16 vertical electric drive units, so that there are four vertical electric drive units in each control quadrant; when the eVTOL drone performs a flight task, the flight control computer detects the M vertical electric drive units on the eVTOL drone in real time through high-frequency sampling to obtain a detection result; and when any one of the vertical electric drive units in the detection result has lift output attenuation or loss, the first control quadrant to which the vertical electric drive unit with lift output attenuation or loss belongs is obtained, and then the flight control computer controls at least one vertical electric drive unit remaining in the first control quadrant to perform dynamic lift compensation processing according to the proportional torque, and maintains the lift moment balance of the four control quadrants of the eVTOL drone, and the total lift vector is greater than a preset value, wherein the preset value can be 1.2 times the gravity of the eVTOL drone.

[0100] That is, the flight control computer monitors the propulsion system state in real time through high-frequency sampling. For single-power-unit failure conditions, the system dynamically redistributes thrust strategies based on redundant control algorithms as follows. For example, in the case of a vertical take-off electric drive unit 1 lift output attenuation or loss in fault diagnosis detection control quadrant 1, the flight control computer controls vertical take-off electric drive units 2, 3 and 4 to proportionally increase torque to dynamically compensate for lift; in addition, the lift moment balance between control quadrant 1 and the remaining three control quadrants needs to be maintained to reduce the roll moment, and the total lift vector continues to be greater than 1.2 times the total machine weight to ensure attitude stability and safe flight.

[0101] The moment requirement of the aircraft is expressed as a function of the lift of each blade, assuming that the lift of each blade is T i (i = 1, 2, …, 20), and the following constraints are established during the hovering phase.

[0102] The total lift equation is: (m is the mass of the UAV, and g is the acceleration of gravity); while maintaining the normal force greater than the weight, the constraints of the pitch moment, roll moment and yaw moment are established to control the moments of pitch M {pitch} , roll M {roll} and yaw M {yaw} , and the normal acceleration, pitch, roll and other attitude values are required to be no lower than the threshold value.

[0103] When a single electric power unit fails, the processing algorithm detects the failure of the i electric drive unit through speed, current and other sensors, determines that the lift F i ≈0 or is uncontrollable, quickly identifies the failed unit i through the electric drive unit ID number, and locks the state of the failed unit i as “failed” F i =0 or a small value close to 0; remove the lift of the failed unit to update the control efficiency matrix B, and directly construct a new B matrix only for the remaining 19 healthy units; adjust according to the attitude deviation feedback to resist the disturbance caused by the failure, and ensure that the resultant moment generated by the remaining units can accurately offset the unbalanced moment caused by the failure.

[0104] This architecture retains the core technologies of fly-by-wire flight control computers and distributed propulsion systems, integrates a turbine power generation system to build a hybrid power system, and is powered by power batteries during vertical take-off and landing. During the cruising phase, the turbine power generation system continuously provides power to the electric drive units and on-board equipment, breaking through the range limit of pure electric aircraft.

[0105] In the embodiment of the present application, by setting the turbine power generation system and the power battery pack on the eVTOL unmanned aerial vehicle, and connecting the turbine power generation system and the power battery pack in series and parallel on the 800V high-voltage DC bus, then performing different flight control strategies according to different flight stages to perform power supply processing, the turbine power generation system and the power battery pack are connected in series and parallel to supply power to the eVTOL unmanned aerial vehicle, so as to achieve optimization in terms of flight range expansion and safety performance improvement; at the same time, the weight of the eVTOL unmanned aerial vehicle can be greatly reduced; and the comprehensive energy consumption is significantly reduced, and the flight range is greatly improved.

[0106] The computer readable storage medium provided in the embodiment of the present application stores a computer program, and the program is executed by a processor to realize the eVTOL unmanned aerial vehicle control method of any one of the above embodiments. The computer readable storage medium includes but is not limited to any type of disk (including a floppy disk, a hard disk, an optical disk, a CD-ROM, and a magneto-optical disk), a ROM (Read-Only Memory), a RAM (Random Access Memory), an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a flash memory, a magnetic card or an optical card. That is, the storage device includes any medium that stores or transmits information in a form capable of being read by a device (for example, a computer, a mobile phone), which can be a read-only memory, a magnetic disk or an optical disk, etc.

[0107] The embodiment of the present application also provides a computer application program running on a computer, and the computer application program is used to execute the eVTOL unmanned aerial vehicle control method of any one of the above embodiments.

[0108] In addition, Figure 4 FIG. 1 is a structural composition schematic diagram of an electronic device in the embodiment of the present application.

[0109] The embodiment of the present application also provides an electronic device, as shown in Figure 4 The electronic device includes a processor 402, a memory 403, an input unit 404, a display unit 405 and the like. Those skilled in the art can understand that, Figure 4The structural components of the electronic device shown do not constitute a limitation on all devices, and more or fewer components can be included, or certain components can be combined. The memory 403 can be used to store the application 401 and various functional modules, and the processor 402 runs the application 401 stored in the memory 403 to execute various functional applications and data processing of the device. The memory can be an internal memory or an external memory, or include both an internal memory and an external memory. The internal memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, or random access memory. The external memory can include a hard disk, a floppy disk, a ZIP disk, a USB, a magnetic tape, etc. The memory disclosed in the present application includes but is not limited to these types of memory. The memory disclosed in the present application is only by way of example and not as a limitation.

[0110] The input unit 404 is used to receive the input of signals and receive the keywords input by the user. The input unit 404 can include a touch panel and other input devices. The touch panel can collect the touch operation of the user thereon or therearound (such as the operation of the user using a finger, a stylus, or any suitable object or accessory on or near the touch panel), and drive the corresponding connection device according to the pre-set program; other input devices can include but are not limited to one or more of a physical keyboard, function keys (such as play control buttons, switch buttons, etc.), trackballs, mice, joysticks, etc. The display unit 405 can be used to display the information input by the user or the information provided to the user and various menus of the terminal device. The display unit 405 can take the form of a liquid crystal display, an organic light-emitting diode, etc. The processor 402 is the control center of the terminal device, which connects all parts of the entire device through various interfaces and lines, executes various functions and processes data by running or executing software programs and / or modules stored in the memory 403, and calling data stored in the memory.

[0111] As an embodiment, the electronic device includes one or more processors 402, a memory 403, and one or more application programs 401, wherein the one or more application programs 401 are stored in the memory 403 and configured to be executed by the one or more processors 402, and the one or more application programs 401 are configured to execute the corresponding eVTOL drone control method in any one of the above embodiments.

[0112] In the embodiment of the present application, by setting the turbine power generation system and the power battery pack on the eVTOL unmanned aerial vehicle, and connecting the turbine power generation system and the power battery pack in series and parallel on the 800V high-voltage DC bus, then performing different flight control strategies according to different flight stages to perform power supply processing, realizing the series and parallel connection of the turbine power generation system and the power battery pack for power supply of the eVTOL unmanned aerial vehicle, so as to achieve optimization in terms of flight range expansion and safety performance improvement; at the same time, the weight of the eVTOL unmanned aerial vehicle can be greatly reduced; and the comprehensive energy consumption is significantly reduced, and the flight range is greatly improved.

[0113] In addition, the above describes in detail the control method and related device of the eVTOL unmanned aerial vehicle based on hybrid power provided by the embodiment of the present application, and the principle and implementation mode of the present application are described by using specific examples in this paper, and the above embodiment is only used to help understand the method and core idea of the present application; at the same time, for the general technical personnel in the art, according to the idea of the present application, the specific implementation mode and application range will be changed, and the above description should not be understood as the limitation of the present application.

Claims

1. A control method for an eVTOL unmanned aerial vehicle based on hybrid power, characterized in that, The method, applied to an eVTOL drone equipped with a turbine power generation system and a power battery pack, and wherein the eVTOL drone is a compound-wing drone, includes: The flight control computer obtains the current flight phase of the eVTOL UAV based on flight control commands. The flight phase includes the vertical takeoff and landing phase, the transition mode phase, the cruise phase, and the emergency mode phase. The flight control computer indexes the flight control strategy corresponding to the current flight phase of the eVTOL UAV; The flight control computer controls the turbine power generation system and / or the power battery pack to supply power to the N cruise electric drive units and M vertical take-off and landing electric drive units on the eVTOL UAV based on the flight control strategy. The M vertical take-off and landing electric drive units are divided into 4 symmetrical control quadrants, and the resultant torque balance that maintains the attitude stability of the eVTOL UAV is maintained when the M vertical take-off and landing electric drive units are running. The flight control computer indexes the flight control strategy corresponding to the current flight phase of the eVTOL UAV, including: The flight control computer uses the current flight phase of the eVTOL UAV to index the flight control strategy corresponding to the flight phase in the flight control strategy library; The flight control strategy library stores flight control strategies corresponding to different flight phases; The flight control strategies corresponding to the different flight phases include: When the flight phase is the vertical takeoff and landing phase, the flight control strategy is to invoke the power battery pack to implement a peak power priority power supply strategy; During the transitional mode phase of the flight, the power battery pack prioritizes power supply, and the turbine power generation system dynamically supplements the required additional power. When the flight phase is the cruise phase, the flight control strategy is for the turbine power generation system to operate at a constant efficiency and optimal operating point to provide full power, and to use the remaining power to charge the power battery pack. When the flight phase is in emergency mode, the flight control strategy is to execute derating output to meet the minimum power requirements for safe flight, and the flight control computer coordinates power supply control based on the status of the power battery pack, turbine generator system and fault codes.

2. The eVTOL UAV control method according to claim 1, characterized in that, The flight control computer obtains the current flight phase of the eVTOL UAV based on flight control commands, including: The flight control computer obtains the current flight status information of the eVTOL UAV; The flight control computer simulates obtaining the simulated flight state information of the eVTOL UAV after executing the flight control command; The current flight status information and the simulated flight status information are used to determine the current flight phase of the eVTOL UAV.

3. The eVTOL UAV control method according to claim 1, characterized in that, The turbine power generation system consists of a turbine engine mechanically driven turbine generator; the electrical energy generated by the turbine power generation system is rectified and then connected to an 800V high-voltage DC bus; the power battery pack is connected to the 800V high-voltage DC bus.

4. The eVTOL UAV control method according to claim 1, characterized in that, The flight control computer, based on the flight control strategy, controls the turbine power generation system and / or the power battery pack to supply power to the N cruise electric drive units and M vertical takeoff and landing electric drive units on the eVTOL UAV, including: The flight control computer obtains the operating power supply status of the turbine power generation system and the power supply status of the power battery pack as set in the flight control strategy. The flight control computer supplies power to the N cruise electric drive units and M vertical takeoff electric drive units on the eVTOL UAV based on the operating power supply status of the turbine power generation system and the power supply status of the power battery pack set in the flight control strategy.

5. The eVTOL UAV control method according to claim 1, characterized in that, The balance of the resultant torque that maintains the attitude stability of the eVTOL UAV during the operation of the M vertical take-off and landing electric drive units includes: When the M vertical take-off and landing electric drive units are running, the flight control computer detects the M vertical take-off and landing electric drive units on the eVTOL UAV in real time based on high-frequency sampling and obtains the detection results. If any vertical electric drive unit in the detection results shows a decrease or loss of lift output, the first control quadrant in which the vertical electric drive unit that shows a decrease or loss of lift output is located is obtained. The flight control computer controls at least one remaining normally operating vertical takeoff and landing electric drive unit in the first control quadrant to perform dynamic lift compensation processing by proportionally increasing the torque, so as to maintain the balance of the resultant lift torque in the four control quadrants of the eVTOL UAV, and maintain the total lift vector greater than a preset value.

6. A hybrid-powered eVTOL unmanned aerial vehicle (UAV) control device, characterized in that, An application to an eVTOL drone, wherein the eVTOL drone is equipped with a turbine power generation system and a power battery pack, and the eVTOL drone is a compound-wing drone, the device includes: The acquisition module is used by the flight control computer to obtain the current flight phase of the eVTOL UAV based on flight control commands. The flight phase includes the vertical takeoff and landing phase, the transition mode phase, the cruise phase, and the emergency mode phase. Index module: used by the flight control computer to index the flight control strategy corresponding to the current flight phase of the eVTOL UAV; Control module: Used by the flight control computer to control the turbine power generation system and / or the power battery pack to supply power to the N cruise electric drive units and M vertical take-off and landing electric drive units on the eVTOL UAV based on the flight control strategy, wherein the M vertical take-off and landing electric drive units are evenly divided into 4 symmetrical control quadrants, and the resultant torque balance is maintained to keep the attitude of the eVTOL UAV stable when the M vertical take-off and landing electric drive units are running. The flight control computer indexes the flight control strategy corresponding to the current flight phase of the eVTOL UAV, including: The flight control computer uses the current flight phase of the eVTOL UAV to index the flight control strategy corresponding to the flight phase in the flight control strategy library; The flight control strategy library stores flight control strategies corresponding to different flight phases; The flight control strategies corresponding to the different flight phases include: When the flight phase is the vertical takeoff and landing phase, the flight control strategy is to invoke the power battery pack to implement a peak power priority power supply strategy; During the transitional mode phase of the flight, the power battery pack prioritizes power supply, and the turbine power generation system dynamically supplements the required additional power. When the flight phase is the cruise phase, the flight control strategy is for the turbine power generation system to operate at a constant efficiency and optimal operating point to provide full power, and to use the remaining power to charge the power battery pack. When the flight phase is in emergency mode, the flight control strategy is to execute derating output to meet the minimum power requirements for safe flight, and the flight control computer coordinates power supply control based on the status of the power battery pack, turbine generator system and fault codes.

7. An electronic device comprising a processor and a memory, characterized in that, The processor runs computer programs or code stored in the memory to implement the eVTOL UAV control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium for storing computer programs or code, characterized in that, When the computer program or code is executed by a processor, the eVTOL unmanned aerial vehicle control method as described in any one of claims 1 to 5 is implemented.

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