Intelligent control method and system for thermal coupling distributed deicing system based on bus

Abstract

The invention discloses a bus-based intelligent control method and system for a thermal-mechanical coupling distributed deicing system, and the method comprises the steps: feeding back the related information between all distributed intelligent nodes to a central energy storage control unit through a bus after the system is powered on; in a normal working mode, the central energy storage control unit communicates with the plurality of distributed intelligent nodes through a CAN bus, and the central energy storage control unit sends related instructions to the distributed intelligent nodes according to a preset time sequence; each distributed intelligent node executes a corresponding task according to the received related instruction; and in a maintenance mode, the upper computer controls the central energy storage control unit and the distributed intelligent nodes through the CAN bus to complete maintenance setting, parameter loading configuration and related query of the intelligent nodes. According to the invention, the distributed design based on the bus is adopted, the collaboration and efficiency of each deicing area of the unmanned aerial vehicle are improved, and the requirements of different numbers of deicing areas of aircrafts of different models can be met by flexibly increasing and decreasing the intelligent nodes.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of ice prevention, in particular to an intelligent control method and system for a bus-based thermal coupling distributed ice prevention system. BACKGROUND

[0002] The ice prevention area of the ice prevention system is designed in a customized manner, different aircrafts have different numbers of ice prevention areas, and in particular, the ice prevention system of a modern large aircraft usually covers a large area and has a large number of partitions. The traditional centralized control architecture has the following inherent defects: 1) complex wiring: the signal lines of all sensors and the power lines / control lines of actuators need to be connected to the central energy storage control unit, resulting in heavy weight, high cost and low reliability of the wire harness. 2) low control efficiency: the central energy storage control unit needs to poll the data of all partition distributed intelligent nodes, which has a large amount of calculation and slow response speed, making it difficult to achieve precise real-time control. 3) lack of coordination: independent control of each partition can easily cause adjacent areas to work at the same time, resulting in high energy consumption. 4) poor maintainability: fault diagnosis is difficult, and system expansion or modification requires redesign of the central energy storage control unit and wire harness layout. 5) poor adaptability: the control architecture is designed in a customized manner and cannot match aircrafts with different numbers of ice prevention areas, and has poor multi-model adaptability. SUMMARY

[0003] In order to solve the problems of complex multi-partition wiring, slow response, poor coordination and maintainability of large thermal coupling ice prevention systems, the application provides an intelligent control method and system for a bus-based thermal coupling distributed ice prevention system.

[0004] The application discloses an intelligent control method for a bus-based thermal coupling distributed ice prevention system, which comprises the following steps: After the system is powered on, self-checking is performed according to a self-checking instruction broadcast by the central energy storage control unit, the central energy storage control unit and each distributed intelligent node start self-checking, and then relevant information between the distributed intelligent nodes is fed back to the central energy storage control unit through the bus, the relevant information including communication status and hardware state information; In the normal working mode, the central energy storage control unit and the plurality of distributed intelligent nodes use CAN bus communication, the central energy storage control unit sends relevant instructions to each distributed intelligent node according to a preset timing sequence; each distributed intelligent node executes corresponding tasks according to the received relevant instructions; the relevant instructions include ice prevention mode instructions, electric heating switch instructions and exciter switch instructions; In the maintenance mode, the upper computer controls the maintenance mode of the central energy storage control unit and the distributed intelligent nodes through the CAN bus, performs maintenance setting, parameter loading configuration on each distributed intelligent node, and performs maintenance mode query and parameter loading query.

[0005] Further, the step 1 comprises: The central energy storage control unit sends the deicing mode and the opening or closing instruction to each distributed intelligent node on each group of CAN bus according to the preset timing, and the left and right wings work synchronously to ensure synchronous deicing of the symmetric deicing area of the left and right wings.

[0006] Further, in the normal working mode, the central energy storage control unit automatically sends the corresponding deicing mode instruction to each distributed intelligent node according to the collected temperature and icing signal; If the temperature detected by the temperature sensor received by the central energy storage control unit is lower than the preset icing temperature threshold, and the icing degree detected by the icing sensor received is greater than the first preset icing degree, the strong deicing mode is started; If the temperature detected by the temperature sensor received by the central energy storage control unit is lower than the preset icing temperature threshold, and the icing degree detected by the icing sensor received is less than the second preset icing degree, the weak deicing mode is started; If the temperature detected by the temperature sensor received by the central energy storage control unit is higher than the preset icing temperature threshold, the deicing is not started.

[0007] Further, it further comprises: If the central energy storage control unit receives the start icing instruction sent by the upper computer through the RS422 bus, the corresponding deicing mode is started according to the alarm intensity fed back by the icing sensor, or the deicing is started according to the deicing mode specified by the upper computer.

[0008] Further, in the normal working mode, each distributed intelligent node calls the corresponding control parameter according to the different deicing modes sent by the central energy storage control unit, if the strong deicing mode is received, the heating time is prolonged or the heating voltage is increased, and the heating period is shortened; if the weak deicing mode is received, the general heating time or the normal heating voltage is adopted, that is, the normal heating period is maintained.

[0009] Further, when each distributed intelligent node receives the electric heating switch instruction and the exciter switch instruction sent by the central energy storage control unit, each distributed intelligent node collects the working current and voltage of the electric heating film and the electric exciter in the thermal coupling execution unit, so as to judge whether the working state of the thermal coupling execution unit is normal, if a fault is detected, the fault condition is transmitted to the central energy storage unit through the CAN bus, and the central energy storage control unit controls the fault thermal coupling execution unit and the thermal coupling unit of the symmetric deicing area to stop executing the deicing task at the same time.

[0010] Furthermore, when each distributed intelligent node receives the electric heating switch command and the exciter switch command sent by the central energy storage control unit, each distributed intelligent node performs the opening or closing control of the corresponding electric heating film or electric exciter, first heating each de-icing area with the electric heating film, and then stimulating it with the electric exciter.

[0011] Furthermore, after the system is powered on, it performs a self-test according to the self-test command broadcast by the central energy storage control unit. If the distributed intelligent nodes cannot receive the data sent by the central energy storage control unit, they will provide feedback to the central energy storage control unit in sequence via the CAN bus.

[0012] This application also discloses a bus-based intelligent control system for a thermally coupled distributed de-icing system, which implements the above-mentioned bus-based intelligent control method for a thermally coupled distributed de-icing system, comprising: a central energy storage control unit, multiple distributed intelligent nodes, a temperature sensor, and an icing sensor. The central energy storage control unit is connected to multiple distributed intelligent nodes located on the left wing, right wing, and tail of the UAV via a CAN bus; the central energy storage control unit is connected to the host computer via a bidirectional RS422 digital communication bus; the central energy storage control unit is connected to a temperature sensor and an icing sensor; the temperature sensor is used to collect the temperature of the environment in which the UAV is located and send it to the central energy storage control unit; the icing sensor is used to collect the icing status of the left wing, right wing, and tail of the UAV and send it to the central energy storage control unit.

[0013] Furthermore, each distributed intelligent node is connected to a corresponding thermo-coupled execution unit; each distributed intelligent node integrates a microprocessor, a power module, and a bus interface; each distributed intelligent node is used to collect the operating current and voltage of the electric heating film and electric exciter in the thermo-coupled execution unit; the thermo-coupled execution unit includes an electric heating film and an electric exciter. All distributed intelligent nodes are connected to the corresponding CAN bus via three lines: CANH, CANL, and GND, to enable information exchange between each distributed intelligent node and the central energy storage control unit.

[0014] Due to the adoption of the above technical solution, this application has the following advantages: 1. This application, through a distributed design architecture based on a bus, can flexibly increase or decrease the number of distributed intelligent nodes, greatly improving adaptability to different aircraft models and the number of de-icing areas. By delegating tasks to each intelligent node, the burden on the central energy storage unit to directly control the thermocoupled execution unit of a single de-icing area is greatly reduced, significantly reducing the weight of connecting cables. It achieves rapid and accurate response to local icing conditions and optimizes the overall energy consumption of the system through inter-node collaboration. Compared with sequential level, bus communication data has parity check, CRC check and other verification methods, which improves the reliability of transmitted data and significantly enhances the reliability, efficiency and maintainability of the system.

[0015] 2. Significantly Simplified Cabling: Drastically reduces the number, weight, and cost of wiring harnesses, improving system reliability. High Efficiency: Local computation and local driving enable millisecond-level rapid response to mode switching and execution under icing conditions. Strong Collaboration: Nodes exchange data via the bus, naturally achieving inter-area work coordination, avoiding electrical shocks, and optimizing de-icing timing. High Reliability and Easy Maintenance: The system has inherent fault tolerance; a single node failure does not affect other nodes; bus-based diagnostics make fault location faster; system expansion only requires adding nodes and connecting them to the bus.

[0016] 3. To improve adaptability to different models with varying numbers of partitions and reduce the workload of the central energy storage control unit, a distributed design is adopted. Each partition has an independent intelligent node, and information exchange is conducted via a CAN bus. The central energy storage control unit sends commands to each node via the CAN bus. Each node controls the thermocouple unit to perform its work according to the commands and feeds back status information to the central energy storage control unit. After collecting the information, the central energy storage control unit merges its own status information into a data packet, which is then centrally uploaded to the host computer via an RS422 bus. At the same time, it can receive control mode commands sent by the host computer, simplifying the onboard wiring, improving the coordination and efficiency of each partition, and enhancing system maintainability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0018] Figure 1 This is a schematic diagram of an intelligent control system for a bus-based thermocoupled distributed de-icing system according to an embodiment of this application; Figure 2 This is a schematic diagram of the CAN data frame structure according to an embodiment of this application. Detailed Implementation

[0019] The present application will be further described in conjunction with the accompanying drawings and embodiments. The described embodiments are only some, not all, of the embodiments of the present application. All other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of the present application.

[0020] This application provides an embodiment of a bus-based thermocoupled distributed de-icing system intelligent control method, which includes: After the system is powered on, it performs a self-test according to the self-test command broadcast by the central energy storage control unit. The central energy storage control unit and each distributed intelligent node begin self-testing, and then feed back relevant information between each distributed intelligent node to the central energy storage control unit through the bus. The relevant information includes communication status and hardware status information. In normal operating mode, the central energy storage control unit communicates with multiple distributed intelligent nodes via a CAN bus. The central energy storage control unit sends relevant instructions to each distributed intelligent node according to a preset timing sequence. Each distributed intelligent node executes the corresponding task based on the received instructions. The relevant instructions include de-icing mode instructions, electric heating switch instructions, and exciter switch instructions. In maintenance mode, the host computer controls the maintenance mode of the central energy storage control unit and distributed intelligent nodes through the CAN bus, performs maintenance settings and parameter loading configuration for each distributed intelligent node, and performs maintenance mode queries and parameter loading queries.

[0021] In this embodiment of the application, step 1 includes: The central energy storage control unit sends de-icing mode and start / stop commands to each distributed intelligent node on each CAN bus according to the preset timing sequence. The left and right wings work synchronously to ensure that the symmetrical de-icing areas of the left and right wings are de-iced synchronously. The preset timing sequence is the order in which the left and right wingtips, left and right wing roots, and tail are activated.

[0022] In the embodiments of this application, during normal operation, the central energy storage control unit automatically sends corresponding de-icing mode commands to each distributed intelligent node based on the collected temperature and icing signals. If the temperature detected by the temperature sensor received by the central energy storage control unit is lower than the preset freezing temperature threshold, and the degree of freezing detected by the freezing sensor is greater than the first preset freezing degree, then the strong de-icing mode is activated. If the temperature detected by the temperature sensor received by the central energy storage control unit is lower than the preset freezing temperature threshold, and the degree of freezing detected by the freezing sensor is less than the second preset freezing degree, then the weak de-icing mode is activated. If the temperature detected by the temperature sensor received by the central energy storage control unit is higher than the preset freezing temperature threshold, then de-icing will not be initiated.

[0023] In this embodiment of the application, it also includes: If the central energy storage control unit receives an icing start command from the host computer via the RS422 bus, it will start the corresponding de-icing mode according to the alarm intensity fed back by the icing sensor, or start de-icing according to the de-icing mode specified by the host computer.

[0024] In the embodiments of this application, during normal operation, each distributed intelligent node calls the corresponding control parameters according to the different de-icing modes sent by the central energy storage control unit. If a strong de-icing mode is received, the heating cycle is shortened by extending the heating time or increasing the heating voltage; if a weak de-icing mode is received, a general heating time or normal heating voltage is used to maintain the normal heating cycle.

[0025] In this embodiment, when each distributed intelligent node receives the electric heating switch command and the exciter switch command sent by the central energy storage control unit, each distributed intelligent node collects the working current and voltage of the electric heating film and the electric exciter in the thermocoupled execution unit, thereby determining whether the working status of the thermocoupled execution unit is normal. If a fault is detected, the fault status is transmitted to the central energy storage unit through the CAN bus, and the central energy storage control unit controls the faulty thermocoupled execution unit and the thermocoupled unit in the symmetrical de-icing area to stop performing the de-icing task simultaneously.

[0026] In this embodiment, when each distributed intelligent node receives the electric heating switch command and the exciter switch command sent by the central energy storage control unit, each distributed intelligent node performs open or close control on the corresponding electric heating film or electric exciter. The electric heating film is used to heat each de-icing area first, and then the electric exciter is used to excite it.

[0027] In this embodiment of the application, after the system is powered on, it performs a self-test according to the self-test command broadcast by the central energy storage control unit. If the distributed intelligent node cannot receive the data sent by the central energy storage control unit, it will provide feedback to the central energy storage control unit in sequence through the CAN bus.

[0028] This application also provides an embodiment of a bus-based thermocoupled distributed de-icing system intelligent control system, which implements the bus-based thermocoupled distributed de-icing system intelligent control method described in the above embodiment, comprising: a central energy storage control unit, multiple distributed intelligent nodes, a temperature sensor, and an icing sensor; The central energy storage control unit is connected to multiple distributed intelligent nodes located on the left wing, right wing, and tail of the UAV via a CAN bus; the central energy storage control unit is connected to the host computer via a bidirectional RS422 digital communication bus; the central energy storage control unit is connected to a temperature sensor and an icing sensor; the temperature sensor is used to collect the temperature of the environment in which the UAV is located and send it to the central energy storage control unit; the icing sensor is used to collect the icing status of the left wing, right wing, and tail of the UAV and send it to the central energy storage control unit.

[0029] In this embodiment, each distributed intelligent node is connected to a corresponding thermo-coupled execution unit; each distributed intelligent node integrates a microprocessor, a power module, and a bus interface; each distributed intelligent node is used to collect the operating current and voltage of the electric heating film and electric exciter in the thermo-coupled execution unit; the thermo-coupled execution unit includes an electric heating film and an electric exciter; All distributed intelligent nodes are connected to the corresponding CAN bus via three lines: CANH, CANL, and GND, to enable information exchange between each distributed intelligent node and the central energy storage control unit.

[0030] For ease of understanding, this application provides a more specific embodiment: like Figure 1 As shown, the central energy storage control unit is designed with three CAN buses: one for the left wing, one for the right wing, and one for the tail. This design is applicable to most aircraft configurations. The number of distributed intelligent nodes can be flexibly configured according to the number of anti-icing zones that are divided according to the wingspan or structural characteristics of different aircraft. All nodes can achieve information exchange by connecting to the CAN bus using three lines: CANH, CANL, and GND.

[0031] like Figure 2 As shown in Table 1, each CAN data frame uses the CAN bus 2.0B extended data frame format with a transmission rate of 500kbps. The extended frame ID is 29 bits long, including the sender identifier, receiver identifier, frame number identifier, send / reply code, and command identifier. The sender and receiver identifiers each have 8 bits, the frame number identifier is 4 bits, the command identifier is 4 bits, the send / reply code is 2 bits, and 3 bits are reserved. Each group can support up to 64 distributed intelligent nodes.

[0032] Table 1. CAN Bus 2.0B Extended Data Frame Format

[0033] As shown in Table 2, since each CAN bus transmitter and receiver is allocated 8 bits of data, the central energy storage control unit is fixedly defined as 0x02, which supports 252 distributed intelligent nodes. The frame number identification code is used for frame counting when multiple frames of data are continuously transmitted, supporting a total of 16 packets of data transmission. The send / reply code consists of 2 bits of data, with 01 for sending and 10 for replying. The command identification code consists of 4 bits of data, including self-test commands, periodic information, and fault clearing commands in normal working mode, as well as control, maintenance mode entry settings, maintenance status query, maintenance settings, intelligent allocation node maintenance status query, intelligent allocation node maintenance settings, intelligent allocation node configuration parameter query, and intelligent allocation node parameter configuration in maintenance mode.

[0034] Table 2 Byte Definitions

[0035] After the system is powered on, it performs a self-test according to the self-test command (command code 0x01) broadcast by the central energy storage control unit. The central energy storage control unit and the distributed intelligent nodes start the self-test. After 10ms, they send the communication status and hardware status information between the distributed intelligent nodes to the central energy storage control unit via the bus. Each distributed intelligent node sends data to the central energy storage control unit through periodic information, with a data packet interval of 1ms between each node.

[0036] In normal operating mode, the central energy storage control unit sends de-icing mode and on / off commands to each node on each CAN bus according to a predetermined timing sequence (from the left and right wingtips to the wing root and then to the tail, or from the left and right wing roots to the wingtips and then to the tail). The left and right wings are synchronized to ensure synchronized de-icing areas. The node numbers of the distributed intelligent nodes in each area are corresponding to the respective areas during installation, enabling control of the distributed intelligent nodes. For example, the sending sequence 0x03, 0x05, 0x06, 0x09, 0x0A, 0x0B, 0x0D, 0x0F represents from the wing root to the wingtips and then to the tail, and the sending sequence 0x0F, 0x0D, 0x0B, 0x0A, 0x09, 0x06, 0x05, 0x03 represents from the wingtips to the wing root and then to the tail, thus enabling control of the distributed intelligent nodes. Furthermore, the CAN bus... The bus transmission mechanism ensures that only one node performs an action at any given time, and all nodes work in coordination. The distributed intelligent node includes a microprocessor, a power module, a bus communication interface, an electric heating film electronic switch, and two electric exciter electronic switches. It can perform on / off control of the corresponding electric heating film or electric exciter according to the instructions received from the central energy storage control unit. Each area is first heated by the electric heating film and then stimulated by the electric exciter.

[0037] When operating in maintenance mode, the external host computer can control the system via the CAN bus. It can set the maintenance mode for the central energy storage control unit and distributed intelligent nodes, configure maintenance settings and load parameters for each distributed intelligent node, and query maintenance mode and parameter loading.

[0038] The central energy storage control unit is designed with an RS422 bus to communicate with the host computer. The communication protocol is customized according to the agreement between the central energy storage control unit and the host computer. After collecting information from each distributed intelligent control unit, the central energy storage control unit merges its own status information into a data packet and uploads it to the host computer. At the same time, it can receive control mode commands sent by the host computer, and the priority is higher than that of automatic logic.

[0039] The central energy storage control unit communicates with the host computer via RS422 and receives de-icing mode commands from the host computer. The central energy storage control unit communicates with the distributed intelligent nodes via CAN bus. The central energy storage control unit broadcasts global commands (such as mode switching) to all distributed nodes through the bus. Each node performs time-sequential switching control of the heaters and exciters in its local area based on the built-in thermo-coupling algorithm, and collects the parameters of the thermo-coupling units in each area in parallel. The data is transmitted to the central controller through the bus. Nodes exchange data through the bus to achieve inter-area coordination. The central unit monitors the overall status.

[0040] This application, through a distributed bus design architecture, significantly improves the adaptability to different aircraft models and de-icing zones. By delegating tasks to each intelligent node, it greatly reduces the burden on the central energy storage unit to directly control the thermocoupled execution unit of a single de-icing zone, significantly reducing the weight of connecting cables. It achieves rapid and accurate response to localized icing conditions and optimizes overall system energy consumption through inter-node collaboration. Compared to sequential level signals, bus communication data uses parity checking, CRC checking, and other verification methods, improving the reliability of transmitted data. This significantly enhances system reliability, efficiency, and maintainability.

[0041] The central energy storage control unit is designed with three CAN buses: one for the left wing, one for the right wing, and one for the tail. This makes it suitable for most aircraft configurations. The distributed intelligent nodes can be flexibly configured according to the number of anti-icing zones that are divided according to the wingspan or structural characteristics of different aircraft. All nodes can communicate with each other by connecting to the CAN bus using three lines: CANH, CANL, and GND.

[0042] The node number of the distributed intelligent node in each region corresponds to the corresponding region during installation, which enables control of the distributed intelligent node. The CAN bus transmission mechanism ensures that only one node performs the action at any given time, and all nodes work in coordination. The distributed intelligent node includes a microprocessor, a power module, a bus communication interface, an electric heating film electronic switch, and two electric exciter electronic switches. It can perform on / off control of the corresponding electric heating film or electric exciter according to the instructions received from the central energy storage control unit. Each region is first heated by the electric heating film and then stimulated by the electric exciter.

[0043] The CAN bus system has a maintenance mode command, which can support distributed intelligent node upgrades and other tasks in maintenance mode, facilitating ground maintenance and inspection.

[0044] The system adopts a communication mechanism that combines event-triggered and time-triggered methods: routine status data is sent periodically; emergency information such as alarms and faults is sent immediately using event-triggered methods and enjoys higher bus priority.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and not to limit them. Although this application has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of this application. Any modifications or equivalent substitutions that do not depart from the spirit and scope of this application should be covered within the protection scope of the claims of this application.

Claims

1. A method for intelligent control of a bus-based thermally coupled distributed de-icing system, characterized in that, Comprise: After the system is powered on, self-checking is performed according to the self-checking instruction broadcast by the central energy storage control unit, the central energy storage control unit and each distributed intelligent node start self-checking, and then relevant information between each distributed intelligent node is fed back to the central energy storage control unit through the bus, and the relevant information includes communication state, hardware state information; In the normal working mode, the central energy storage control unit and the plurality of distributed intelligent nodes use the CAN bus to communicate, the central energy storage control unit sends relevant instructions to each distributed intelligent node according to a preset timing; each distributed intelligent node executes corresponding tasks according to the received relevant instructions; the relevant instructions include deicing mode instructions, electric heating switch instructions, and exciter switch instructions; In the maintenance mode, the upper computer controls the maintenance mode of the central energy storage control unit and the distributed intelligent nodes through the CAN bus, performs maintenance setting, parameter loading configuration on each distributed intelligent node, and performs maintenance mode query and parameter loading query.

2. The intelligent control method of the bus-based thermodynamic coupling distributed de-icing system according to claim 1, characterized in that, The step 1 comprises: The central energy storage control unit sends deicing mode and on or off instructions to each distributed intelligent node on each group of CAN buses according to a preset timing, and the left and right wings work synchronously to ensure synchronous deicing of the symmetric deicing area of the left and right wings; the preset timing is the sequence of starting of the wing tips, the wing roots and the tail of the left and right wings.

3. The intelligent control method of the bus-based thermally coupled distributed de-icing system according to claim 1, wherein, In the normal working mode, the central energy storage control unit automatically sends corresponding deicing mode instructions to each distributed intelligent node according to the collected temperature and icing signals; If the temperature detected by the temperature sensor received by the central energy storage control unit is lower than the preset icing temperature threshold, and the icing degree detected by the icing sensor received is greater than the first preset icing degree, the strong deicing mode is started; If the temperature detected by the temperature sensor received by the central energy storage control unit is lower than the preset icing temperature threshold, and the icing degree detected by the icing sensor received is less than the second preset icing degree, the weak deicing mode is started; If the temperature detected by the temperature sensor received by the central energy storage control unit is higher than the preset icing temperature threshold, the deicing is not started.

4. The intelligent control method of the bus-based thermodynamic coupling distributed de-icing system according to claim 3, characterized in that, Further comprise: If the central energy storage control unit receives the start icing instruction sent by the upper computer through the RS422 bus, the corresponding deicing mode is started according to the alarm intensity fed back by the icing sensor, or the deicing is started according to the deicing mode specified by the upper computer.

5. The intelligent control method of the bus-based thermodynamic coupling distributed de-icing system according to claim 1, characterized in that, In the normal working mode, each distributed intelligent node calls corresponding control parameters according to different deicing modes sent by the central energy storage control unit, if the strong deicing mode is received, the heating time is prolonged or the heating voltage is increased, and the heating period is shortened; if the weak deicing mode is received, the general heating time or the normal heating voltage is used, that is, the normal heating period is maintained.

6. The intelligent control method of the bus-based thermodynamic coupling distributed de-icing system according to claim 1, characterized in that, When each distributed intelligent node receives the electric heating switch instruction and the exciter switch instruction sent by the central energy storage control unit, each distributed intelligent node collects the working current and voltage of the electric heating film and the electric exciter in the thermal coupling execution unit, so as to judge whether the working state of the thermal coupling execution unit is normal, if a fault is detected, the fault condition is transmitted to the central energy storage unit through the CAN bus, and the central energy storage control unit controls the fault thermal coupling execution unit and the thermal coupling unit of the symmetric deicing area to stop executing the deicing task at the same time.

7. The intelligent control method of the bus-based thermodynamic coupling distributed de-icing system according to claim 1, characterized in that, When each distributed intelligent node receives the electric heating switch instruction and the exciter switch instruction sent by the central energy storage control unit, each distributed intelligent node executes opening or closing control on the corresponding electric heating film or electric exciter, and uses the electric heating film to heat first and then uses the electric exciter to excite for each deicing area.

8. The intelligent control method of the bus-based thermodynamic coupling distributed de-icing system according to claim 1, characterized in that, After the system is powered on, self-checking is performed according to the self-checking instruction broadcast by the central energy storage control unit, if the distributed intelligent node cannot receive the data sent by the central energy storage control unit, feedback is performed to the central energy storage control unit in time sequence through the CAN bus.

9. A bus-based intelligent control system for a thermally coupled distributed de-icing system, implementing the bus-based intelligent control method for a thermally coupled distributed de-icing system according to any one of claims 1-8, characterized in that, It comprises: a central energy storage control unit, a plurality of distributed intelligent nodes, a temperature sensor and an icing sensor; The central energy storage control unit is connected with the plurality of distributed intelligent nodes located on the left wing, the right wing and the tail of the unmanned aerial vehicle through the CAN bus; the central energy storage control unit is connected with the upper computer through the bidirectional RS422 digital communication bus; the central energy storage control unit is connected with the temperature sensor and the icing sensor; the temperature sensor is used to collect the temperature in the environment where the unmanned aerial vehicle is located and send it to the central energy storage control unit; the icing sensor is used to collect the icing condition of the left wing, the right wing and the tail of the unmanned aerial vehicle and send it to the central energy storage control unit.

10. The intelligent control system of a bus-based thermally coupled distributed de-icing system of claim 9, wherein, Each distributed intelligent node is connected with a corresponding thermal coupling execution unit; each distributed intelligent node is integrated with a microprocessor, a power module and a bus interface; each distributed intelligent node is used to collect the working current and voltage of the electric heating film and the electric exciter in the thermal coupling execution unit; the thermal coupling execution unit comprises an electric heating film and an electric exciter; All distributed intelligent nodes are connected with the corresponding CAN bus through three lines of CANH, CANL and GND to realize information interaction between each distributed intelligent node and the central energy storage control unit.

Images