Low-temperature self-starting control method, equipment and product for hybrid unmanned aerial vehicle based on methanol fuel
By using lithium batteries to preheat methanol fuel cells and adjust their output power at low temperatures, the problem of insufficient energy utilization in low-temperature environments for hybrid drones was solved, achieving stable startup and efficient power supply for the drones.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ZHUOER TECHNOLOGY (HUZHOU) CO LTD
- Filing Date
- 2026-02-14
- Publication Date
- 2026-05-08
AI Technical Summary
Existing hybrid drones, especially those powered primarily by methanol fuel batteries, suffer from insufficient energy utilization during startup and control in low-temperature environments.
By acquiring the state parameters of the methanol fuel cell at low temperatures, preheating it with a lithium battery, and stopping preheating and starting the methanol fuel cell when preset conditions are met, a smooth energy conversion is achieved by combining the output power adjustment of the lithium battery and the methanol fuel cell.
The start-up control of methanol fuel cells in low-temperature environments has been improved, avoiding energy waste, increasing energy utilization, and ensuring stable start-up and endurance of drones in low-temperature environments.
Smart Images
Figure CN121990206A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of unmanned aerial vehicle (UAV) control technology, and more specifically, to a method, device, and product for low-temperature self-start control of a methanol-fueled hybrid UAV. Background Technology
[0002] With the rapid development of drone technology, drones have gradually penetrated into agriculture, transportation, and military industries, and due to their advantages of low cost and high efficiency, they have high practical value in various industries.
[0003] In the field of drone technology, drones powered by hydrogen fuel cells, methanol fuel cells, and other similar fuel cells are widely used due to their long range and low emissions. To further improve the range and operational stability of drones, some drones have adopted a hybrid power system combining fuel cells and lithium batteries. This hybrid system fully utilizes the range of fuel cells and the rapid response capability of lithium batteries to compensate for the shortcomings of a single power system and improve the overall performance of the drone's power system.
[0004] However, existing hybrid drones, especially those powered primarily by methanol fuel batteries, still have imperfect start-up control in low-temperature environments, resulting in insufficient energy utilization. Summary of the Invention
[0005] In view of this, the purpose of this application is to provide a method, device and product for low-temperature self-start control of a methanol-fueled hybrid drone, which can improve the problem of insufficient energy utilization in the start-up control of traditional methanol-fueled hybrid drones in low-temperature environments.
[0006] To achieve the above technical objectives, the technical solution adopted in this application is as follows:
[0007] In a first aspect, embodiments of this application provide a method for cryogenic self-starting control of a methanol-fueled hybrid unmanned aerial vehicle, the method comprising:
[0008] When the hybrid drone is in a low-temperature state, acquire the state parameters that characterize the current state of the methanol fuel cell in the hybrid drone;
[0009] Based on the state parameters, a preset preheating strategy is used to control the lithium battery in the hybrid drone to preheat the methanol fuel cell;
[0010] When the methanol fuel cell meets the preset conditions, the lithium battery is controlled to stop preheating and the methanol fuel cell is started.
[0011] In conjunction with the first aspect, in some optional embodiments, based on the state parameters, a preset preheating strategy is used to control the lithium battery in the hybrid drone to preheat the methanol fuel cell, including:
[0012] When the hybrid drone is in a low-temperature state, the predicted energy required for the methanol fuel cell to complete preheating is determined based on the battery temperature and battery thermal capacity in the state parameters.
[0013] Based on the predicted energy and the heating power of the lithium battery, the predicted time required for the methanol fuel cell to complete preheating is determined;
[0014] The lithium battery is controlled to heat the methanol fuel cell at the heating power, and the heating time is the predicted time.
[0015] In conjunction with the first aspect, in some optional embodiments, the preset condition is that the current temperature of the methanol fuel cell is greater than or equal to a preset temperature, or the heating duration is greater than or equal to the predicted duration.
[0016] In conjunction with the first aspect, in some optional embodiments, when the methanol fuel cell meets preset conditions, controlling the lithium battery to stop preheating and starting the methanol fuel cell includes:
[0017] When the methanol fuel cell meets the preset conditions, the lithium battery is controlled to stop preheating;
[0018] Obtain the no-load power and load power of the hybrid UAV;
[0019] Based on the no-load power, determine the first output power of the methanol fuel cell, and control the methanol fuel cell to operate at the first output power;
[0020] Based on the load power, the second output power of the methanol fuel cell and the third output power of the lithium battery are determined, and the methanol fuel cell is controlled to operate at the second output power and the lithium battery is controlled to operate at the third output power.
[0021] In conjunction with the first aspect, in some optional embodiments, determining a first output power of the methanol fuel cell based on the no-load power and controlling the methanol fuel cell to operate at the first output power includes:
[0022] Based on the no-load power, the first output power is determined to increase from an initial value of zero to the no-load power at a first preset growth rate;
[0023] The methanol fuel cell is controlled to operate continuously at the first output power during the first output power increase process.
[0024] In conjunction with the first aspect, in some optional embodiments, determining a second output power of the methanol fuel cell and a third output power of the lithium battery based on the load power, and controlling the methanol fuel cell to operate at the second output power and the lithium battery to operate at the third output power, includes:
[0025] Based on the load power, the second output power is determined to increase from the first output power to the load power at a second preset growth rate;
[0026] During the second output power increase process, the third output power is the difference between the load power and the second output power;
[0027] The lithium battery and the methanol fuel cell are controlled to simultaneously supply power to the hybrid drone during the second output power increase process, wherein the methanol fuel cell operates continuously at the second output power and the lithium battery operates continuously at the third output power.
[0028] In conjunction with the first aspect, in some alternative implementations, the method further includes:
[0029] The real-time temperature of the methanol fuel cell is obtained cyclically;
[0030] When the real-time temperature is lower than the preset temperature, the lithium battery in the hybrid drone is controlled to heat the methanol fuel cell.
[0031] Secondly, embodiments of this application also provide an electronic device, which includes a processor and a memory coupled to each other. The memory stores a computer program, and when the computer program is executed by the processor, the electronic device performs the above-described method.
[0032] Thirdly, embodiments of this application also provide a computer program product, including a computer program that implements the above-described method when executed by a processor.
[0033] The invention employing the above technical solution has the following advantages:
[0034] In the technical solution provided in this application, firstly, when the hybrid drone is detected to be in a low-temperature state, state parameters characterizing the current state of the methanol fuel cell in the hybrid drone are acquired. Based on the state parameters, a preset preheating strategy is used to control the lithium battery in the hybrid drone to preheat the methanol fuel cell. When the methanol fuel cell meets preset conditions, the lithium battery is controlled to stop preheating and the methanol fuel cell is started. In this way, when the methanol fuel cell in the hybrid drone is in a low-temperature state, the lithium battery can preheat the methanol fuel cell, avoiding the difficulty of starting methanol fuel at low temperatures and the energy consumption for preheating itself, thus improving the problem of insufficient energy utilization in the start-up control of traditional methanol-fueled hybrid drones in low-temperature environments. Attached Figure Description
[0035] This application can be further illustrated by the non-limiting embodiments given in the accompanying drawings. It should be understood that the following drawings only illustrate some embodiments of this application and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained from these drawings without any inventive effort.
[0036] Figure 1 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.
[0037] Figure 2 This is a flowchart illustrating the low-temperature self-starting control method for a methanol-fueled hybrid unmanned aerial vehicle (UAV) provided in an embodiment of this application.
[0038] Icons: 100 - Electronic device; 101 - Processor; 102 - Memory. Detailed Implementation
[0039] The present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that similar or identical parts are referred to by the same reference numerals in the drawings or description. Implementations not shown or described in the drawings are forms known to those skilled in the art. In the description of this application, terms such as "first" and "second" are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0040] Please refer to Figure 1 This application provides an electronic device 100 that may include a processor 101 and a memory 102. The memory 102 stores a computer program, which, when executed by the processor 101, enables the electronic device 100 to perform the corresponding steps in the following methanol-fueled hybrid unmanned aerial vehicle cryogenic self-starting control method.
[0041] In this embodiment, the processor 101 can be an integrated circuit chip with signal processing capabilities. The processor 101 can be a general-purpose processor. For example, the processor 101 can be a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.
[0042] The memory 102 can be, but is not limited to, random access memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, etc. In this embodiment, the memory 102 can be used to store state parameters, preset preheating strategies, preset conditions, real-time temperature, preset temperature, etc. Of course, the memory 102 can also be used to store programs, which the processor 101 executes after receiving an execution instruction.
[0043] Understandable Figure 1 The electronic device 100 shown is only a schematic diagram; the electronic device 100 may also include components that are more... Figure 1 More components are shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.
[0044] In this embodiment, the electronic device 100 can be a personal computer, laptop, cloud server, etc. It is used to acquire state parameters characterizing the current state of the methanol fuel cell in the hybrid drone when the drone is in a low-temperature state. Then, based on the state parameters, a preset preheating strategy is used to control the lithium battery in the hybrid drone to preheat the methanol fuel cell. Finally, when the methanol fuel cell meets preset conditions, the lithium battery is controlled to stop preheating, and the methanol fuel cell is started.
[0045] Please refer to Figure 2 This application also provides a low-temperature self-start control method for a methanol-fueled hybrid drone, which can be applied to the aforementioned electronic device 100, and the electronic device 100 executes or implements the steps of the method. The methanol-fueled hybrid drone low-temperature self-start control method may include the following steps:
[0046] Step 210: When the hybrid drone is in a low-temperature state, obtain the state parameters characterizing the current state of the methanol fuel cell in the hybrid drone;
[0047] Step 220: Based on the state parameters, the lithium battery in the hybrid drone is controlled to preheat the methanol fuel cell using a preset preheating strategy;
[0048] Step 230: When the methanol fuel cell meets the preset conditions, control the lithium battery to stop preheating and start the methanol fuel cell.
[0049] In the above implementation, firstly, when the hybrid drone is detected to be in a low-temperature state, state parameters characterizing the current state of the methanol fuel cell in the hybrid drone are acquired. Based on the state parameters, a preset preheating strategy is used to control the lithium battery in the hybrid drone to preheat the methanol fuel cell. When the methanol fuel cell meets preset conditions, the lithium battery stops preheating and the methanol fuel cell is started. In this way, when the methanol fuel cell in the hybrid drone is in a low-temperature state, the lithium battery can preheat the methanol fuel cell, avoiding the difficulty of starting methanol fuel at low temperatures and the energy consumption for preheating itself, thus improving the problem of insufficient energy utilization in the start-up control of traditional methanol-fueled hybrid drones in low-temperature environments.
[0050] The following is a detailed explanation of each step in the cryogenic self-starting control method for methanol-fueled hybrid drones:
[0051] In step 210, the low-temperature state of the hybrid drone (hereinafter referred to as the drone) can be that the drone is in a low-temperature environment, and the temperature sensor on the drone itself detects that the temperature of the methanol fuel cell on the drone is low (below a preset value, such as 4°C or 5°C). The detection of the low-temperature state can be achieved by the operator issuing a start command through the controller (such as the drone's control handle, central control computer, etc.), and the drone control system on the controller will automatically call the temperature sensor to sense and judge the temperature. This is a conventional technical method in the field of drone control technology and will not be elaborated here.
[0052] In this embodiment, the status parameters may include battery temperature, battery thermal capacity, etc.
[0053] In step 220, according to the state parameters, the lithium battery in the hybrid drone preheats the methanol fuel cell using a preset preheating strategy, which may include:
[0054] When the hybrid drone is in a low-temperature state, the predicted energy required for the methanol fuel cell to complete preheating is determined based on the battery temperature and battery thermal capacity in the state parameters.
[0055] Based on the predicted energy and the heating power of the lithium battery, the predicted time required for the methanol fuel cell to complete preheating is determined;
[0056] The lithium battery is controlled to heat the methanol fuel cell at the heating power, and the heating time is the predicted time.
[0057] In this embodiment, after determining that the UAV is in a low-temperature state, the predicted energy required for preheating the methanol fuel cell is first determined based on the cell temperature and thermal capacity of the methanol fuel cell:
[0058] (1)
[0059] In the formula, Indicates predicted energy. Indicates battery thermal capacity, This indicates the preset start-up temperature of the methanol fuel cell. Indicates battery temperature. This indicates the heating efficiency (typically between 0.8 and 0.9). The preset start-up temperature and heating efficiency of the methanol fuel cell can be parameters calibrated by the user during initial experiments, and will not be elaborated upon here.
[0060] Then, based on the predicted energy and the heating power of the lithium battery, the predicted time required for the methanol fuel cell to complete preheating is determined:
[0061] (2)
[0062] In the formula, Indicates the predicted duration. This indicates the heating power. The heating power of the lithium battery can be the power of the heating element in the lithium battery, pre-calibrated by the user when designing the hybrid drone, and can be flexibly set according to user needs.
[0063] Once the predicted duration is determined, the lithium battery can be controlled to heat the methanol fuel cell within the preset time until the methanol fuel cell meets preset conditions. These preset conditions can be that the current temperature of the methanol fuel cell is greater than or equal to a preset temperature (usually the aforementioned preset start-up temperature), or that the heating duration is greater than or equal to the predicted duration (to avoid overheating or insufficient lithium battery power causing malfunction). In this way, by using the lithium battery as an auxiliary power source to provide preheating energy for the methanol fuel cell, the problems of difficult start-up and high energy consumption at low temperatures are avoided.
[0064] In step 230, when the methanol fuel cell meets preset conditions, controlling the lithium battery to stop preheating and starting the methanol fuel cell may include:
[0065] When the methanol fuel cell meets the preset conditions, the lithium battery is controlled to stop preheating;
[0066] Obtain the no-load power and load power of the hybrid UAV;
[0067] Based on the no-load power, determine the first output power of the methanol fuel cell, and control the methanol fuel cell to operate at the first output power;
[0068] Based on the load power, the second output power of the methanol fuel cell and the third output power of the lithium battery are determined, and the methanol fuel cell is controlled to operate at the second output power and the lithium battery is controlled to operate at the third output power.
[0069] In this embodiment, when the methanol fuel cell meets preset conditions (i.e., preheating is complete), the lithium battery stops heating the methanol fuel cell. Then, the no-load power (i.e., the energy required by the drone during ground preparation) and load power (i.e., the energy required by the drone during flight) of the hybrid drone are acquired. The no-load power and load power can be calibrated by the user during the initial experimental phase, which will not be elaborated here. Based on the no-load power, the first output power of the methanol fuel cell to the drone during ground preparation is determined, thereby ensuring that the methanol fuel cell has a stable output capability after preheating. Once the ground phase is ready (i.e., the output power of the methanol fuel cell reaches the no-load power), the second output power of the methanol fuel cell and the third output power of the lithium battery are determined based on the load power, thereby controlling the methanol fuel cell and lithium battery to simultaneously power the drone, ensuring that the drone has sufficient power for takeoff.
[0070] Specifically, in this embodiment, determining the first output power of the methanol fuel cell based on the no-load power and controlling the methanol fuel cell to operate at the first output power may include:
[0071] Based on the no-load power, the first output power is determined to increase from an initial value of zero to the no-load power at a first preset growth rate;
[0072] The methanol fuel cell is controlled to operate continuously at the first output power during the first output power increase process.
[0073] In this embodiment, the first preset growth rate can be flexibly set according to user needs, such as increasing the rated power by 1% or 5% each time.
[0074] During the ground preparation phase, the output power of the methanol fuel cell gradually increases, completing the ground warm-up process for the drone and simultaneously taking over the drone's control system, which was originally powered by lithium batteries. This achieves a smooth energy switch, improves the utilization efficiency of the methanol fuel cell, and consequently increases the drone's endurance.
[0075] In this embodiment, determining the second output power of the methanol fuel cell and the third output power of the lithium battery based on the load power, and controlling the methanol fuel cell to operate at the second output power and the lithium battery to operate at the third output power, may include:
[0076] Based on the load power, the second output power is determined to increase from the first output power to the load power at a second preset growth rate;
[0077] During the second output power increase process, the third output power is the difference between the load power and the second output power;
[0078] The lithium battery and the methanol fuel cell are controlled to simultaneously supply power to the hybrid drone during the second output power increase process, wherein the methanol fuel cell operates continuously at the second output power and the lithium battery operates continuously at the third output power.
[0079] In this embodiment, the second preset growth rate can be flexibly set according to user needs, such as increasing the rated power by 10% or 15% each time.
[0080] Understandably, in practical applications, once the drone is ground-ready, the methanol fuel cell usually cannot immediately increase its output power to the level required for the drone to take off. Therefore, in the early stages of the drone's flight mission, the lithium battery can provide most of the energy required for the drone's flight, and the output power of the methanol fuel cell will gradually increase from the initial output power when the drone is ground-ready to the load power.
[0081] During the increase of the output power of the methanol fuel cell, the sum of the second output power and the third output power (i.e. the output power of the lithium battery) is greater than the load power. The output power of the lithium battery gradually decreases as the output power of the methanol fuel cell increases, until the output power of the methanol fuel cell (i.e. the second output power) is greater than or equal to the load power. At this point, the output power of the lithium battery drops to zero and enters standby or backup state.
[0082] Understandably, in practical applications, load power can characterize the rated power required for UAV flight (stable cruise). However, during the UAV's takeoff and ascent from the ground, the power required is typically a peak value greater than the rated power. Therefore, in this embodiment, the lithium battery's output power (i.e., the third output power) is actually greater than the load power in the initial state when the UAV is ground-ready and entering flight. The second output power, having just completed the UAV warm-up and control system power supply tasks in the initial state, is actually much less than the load power. Therefore, during UAV takeoff, as the second output power increases and the third output power decreases with the increase of the second output power, the sum of the second and third output powers is actually greater than the load power by 10% to 15% (determined by flexibly setting the initial output power of the lithium battery during the UAV flight mission based on actual conditions), thus ensuring the UAV can take off smoothly. After the UAV enters the stable cruise phase, the methanol fuel cell's output power increases to the load power and provides stable power, while the lithium battery's output power decreases to zero, entering standby or reserve mode.
[0083] In this way, by using a hybrid power supply system with methanol fuel cells as the main source and lithium batteries as a supplement, the methanol fuel cells carried by the drone can be stably started and smoothly switched at low temperatures. By flexibly adjusting the output power of the methanol fuel cells and lithium batteries in the process of coordinated power supply, the energy utilization of methanol fuel cells can be maximized while smoothly starting the drone.
[0084] As an optional implementation, the method may further include:
[0085] The real-time temperature of the methanol fuel cell is obtained cyclically;
[0086] When the real-time temperature is lower than the preset temperature, the lithium battery in the hybrid drone is controlled to preheat the methanol fuel cell.
[0087] Understandably, in practical applications, drones may re-enter a cryogenic state during operation due to excessively low ambient temperatures. Therefore, this embodiment cyclically acquires the real-time temperature of the methanol fuel cell, and when the real-time temperature falls below a preset temperature (i.e., the methanol fuel cell re-enters a cryogenic state), the lithium battery is activated again to heat the methanol fuel cell. The heating method is the same as the preheating method for the methanol fuel cell described above, and will not be repeated here. This ensures a stable power supply from the methanol fuel cell during drone operation, preventing the drone from shutting down due to low temperatures.
[0088] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the electronic device 100 described above can be referred to the corresponding process of each step in the aforementioned method, and will not be elaborated further here.
[0089] This application also provides a computer program product, including a computer program that, when executed by processor 101, implements the low-temperature self-start control method for a methanol-fueled hybrid unmanned aerial vehicle as described in the above embodiments.
[0090] Based on the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by hardware or by using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This software product can be stored in a non-volatile storage medium (such as CD-ROM, USB flash drive, mobile hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, server, or network device, etc.) to execute the methods described in the various implementation scenarios of this application.
[0091] In summary, this application provides a method, device, and product for low-temperature self-start control of a methanol-fueled hybrid drone. In this technical solution, firstly, when the hybrid drone is detected to be in a low-temperature state, state parameters characterizing the current state of the methanol fuel cell in the hybrid drone are acquired. Based on these state parameters, a preset preheating strategy is used to control the lithium battery in the hybrid drone to preheat the methanol fuel cell. When the methanol fuel cell meets preset conditions, the lithium battery stops preheating, and the methanol fuel cell starts. Thus, when the methanol fuel cell in the hybrid drone is in a low-temperature state, the lithium battery can preheat the methanol fuel cell, avoiding the difficulty of starting methanol fuel at low temperatures and the energy consumption for preheating itself, thus improving the problem of insufficient energy utilization in the start-up control of traditional methanol-fueled hybrid drones in low-temperature environments.
[0092] In the embodiments provided in this application, it should be understood that the disclosed methods can also be implemented in other ways. The method embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or part of code, which includes one or more executable instructions for implementing a specified logical function. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.
[0093] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.
Claims
1. A method for cryogenic self-start control of a methanol-fueled hybrid unmanned aerial vehicle, characterized in that, The method includes: When the hybrid drone is in a low-temperature state, acquire the state parameters that characterize the current state of the methanol fuel cell in the hybrid drone; Based on the state parameters, a preset preheating strategy is used to control the lithium battery in the hybrid drone to preheat the methanol fuel cell; When the methanol fuel cell meets the preset conditions, the lithium battery is controlled to stop preheating and the methanol fuel cell is started.
2. The method according to claim 1, characterized in that, Based on the state parameters, a preset preheating strategy is used to control the lithium battery in the hybrid drone to preheat the methanol fuel cell, including: When the hybrid drone is in a low-temperature state, the predicted energy required for the methanol fuel cell to complete preheating is determined based on the battery temperature and battery thermal capacity in the state parameters. Based on the predicted energy and the heating power of the lithium battery, the predicted time required for the methanol fuel cell to complete preheating is determined; The lithium battery is controlled to heat the methanol fuel cell at the heating power, and the heating time is the predicted time.
3. The method according to claim 2, characterized in that, The preset condition is that the current temperature of the methanol fuel cell is greater than or equal to the preset temperature, or the heating time is greater than or equal to the predicted time.
4. The method according to claim 1, characterized in that, When the methanol fuel cell meets preset conditions, the lithium battery is controlled to stop preheating and the methanol fuel cell is started, including: When the methanol fuel cell meets the preset conditions, the lithium battery is controlled to stop preheating; Obtain the no-load power and load power of the hybrid UAV; Based on the no-load power, determine the first output power of the methanol fuel cell, and control the methanol fuel cell to operate at the first output power; Based on the load power, the second output power of the methanol fuel cell and the third output power of the lithium battery are determined, and the methanol fuel cell is controlled to operate at the second output power and the lithium battery is controlled to operate at the third output power.
5. The method according to claim 4, characterized in that, Determining the first output power of the methanol fuel cell based on the no-load power, and controlling the methanol fuel cell to operate at the first output power, includes: Based on the no-load power, the first output power is determined to increase from an initial value of zero to the no-load power at a first preset growth rate; The methanol fuel cell is controlled to operate continuously at the first output power during the first output power increase process.
6. The method according to claim 4, characterized in that, Based on the load power, determining the second output power of the methanol fuel cell and the third output power of the lithium battery, and controlling the methanol fuel cell to operate at the second output power and the lithium battery to operate at the third output power, includes: Based on the load power, the second output power is determined to increase from the first output power to the load power at a second preset growth rate; During the second output power increase process, the third output power is the difference between the load power and the second output power; The lithium battery and the methanol fuel cell are controlled to simultaneously supply power to the hybrid drone during the second output power increase process, wherein the methanol fuel cell operates continuously at the second output power and the lithium battery operates continuously at the third output power.
7. The method according to claim 1, characterized in that, The method further includes: The real-time temperature of the methanol fuel cell is obtained cyclically; When the real-time temperature is lower than the preset temperature, the lithium battery in the hybrid drone is controlled to heat the methanol fuel cell.
8. An electronic device, characterized in that, The electronic device includes a processor and a memory coupled together, the memory storing a computer program that, when executed by the processor, causes the electronic device to perform the method as described in any one of claims 1-7.
9. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1-7.