A dynamic adaptive unmanned aerial vehicle hybrid energy supply and management system

Abstract

This invention relates to the field of unmanned aerial vehicle (UAV) technology and discloses a hybrid energy supply and management system for UAVs with dynamic adaptability. The system includes a power generation unit and an energy storage unit. The power generation unit comprises a hydrogen generation module and a fuel cell stack. The hydrogen generation module uses a detachable magnesium hydride solid hydrogen storage device, and hydrogen is generated by a hydrolysis reaction triggered by water injection through a water supply pipeline. The hydrogen is then transported to the anode of the fuel cell stack and converted into electrical energy for the UAV's use. The energy storage unit provides the electrical energy required for the start-up and regulation of the water supply pipeline. Compared to traditional lithium battery or solar power solutions, this system offers longer endurance under the same payload, is not limited by lighting conditions, and has a wider range of applications, effectively expanding the UAV's operating radius and environmental adaptability.

Description

Technical Field

[0001] This solution relates to the field of unmanned aerial vehicle technology, specifically to a hybrid energy supply and management system for unmanned aerial vehicles with dynamic adaptability. Background Technology

[0002] Long-endurance unmanned aerial vehicles (UAVs) are of significant value in applications such as wide-area reconnaissance, communication relay, and disaster monitoring. However, their mission capabilities are fundamentally limited by the performance bottlenecks of existing energy systems. In the past, the mainstream technologies for improving UAV endurance mainly included pure solar power and high-energy-density battery solutions. However, these solutions still have certain limitations when addressing the requirements of all-weather, highly reliable, and rapidly deployable long-endurance missions. For example, pure solar-powered UAVs are highly dependent on sunlight conditions, and their energy acquisition is significantly intermittent and uncertain. Furthermore, their endurance will rapidly decline or even be lost at night, in cloudy or low-light conditions, failing to meet the requirements of continuous all-weather, day-night missions. High-energy-density lithium batteries can provide relatively stable power output, but their mass energy density still has a ceiling. Increasing battery capacity to extend endurance directly leads to a significant increase in overall weight, creating a "weight-endurance" contradiction. In addition, lithium batteries require several hours of charging or replacement after depletion, making it difficult to support high-frequency, fast-paced mission cycles in the field.

[0003] To overcome the limitations of relying on a single energy source, existing technologies have proposed a hybrid power solution combining solar energy and lithium batteries. This aims to extend daytime endurance by charging the lithium batteries with solar power, while reducing the overall weight of the aircraft. However, this hybrid solution remains fundamentally dependent on sunlight conditions: when the operating environment is in low light or at night for extended periods, the UAV's endurance still relies entirely on lithium battery reserves, with the solar system unable to provide effective supplementation. This means that the endurance advantage of the hybrid solution will be significantly weakened in adverse weather conditions or day-night missions. Essentially, it remains a passive energy architecture that "gains on sunny days and disappears on cloudy days," failing to fundamentally solve the energy supply problem for long-endurance UAVs operating continuously in all weather conditions. Summary of the Invention

[0004] The present invention aims to provide a hybrid energy supply and management system for unmanned aerial vehicles (UAVs) with dynamic adaptability, so as to improve the endurance of UAVs during continuous operation in all weather conditions.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a hybrid energy supply and management system for unmanned aerial vehicles (UAVs) with dynamic adaptability, comprising a power generation unit and an energy storage unit. The power generation unit includes a hydrogen generation module and a power supply module. The hydrogen generation module includes a solid hydrolysis reactor and a water supply pipeline. A solid hydrogen storage component with magnesium hydride solid hydrogen storage material as its core is detachably installed inside the solid hydrolysis reactor. The water supply pipeline is connected to the solid hydrolysis reactor and can supply raw water for initiating the hydrolysis of magnesium hydride to the solid hydrolysis reactor. The power generation module includes a proton exchange membrane fuel cell stack. The proton exchange membrane fuel cell stack includes an anode inlet. The anode inlet receives hydrogen output from the solid hydrolysis reactor and converts the hydrogen energy contained in the hydrogen into electrical energy used by the UAV. The energy storage unit is electrically connected to the water supply pipeline and can supply energy to the water supply pipeline.

[0006] The beneficial effects of this solution are as follows: hydrogen is provided by magnesium hydride solid hydrogen storage material, and the hydrogen energy provided by the hydrogen is converted into electrical energy for use by the unmanned aerial vehicle using a proton exchange membrane fuel cell stack. Compared with traditional lithium battery or solar power supply solutions, the unmanned aerial vehicle has a longer range under the same load conditions, and the application scenarios are wider than those of drones powered by solar energy.

[0007] Furthermore, it also includes an energy management mechanism, which includes a processor with a built-in PID control module and a feedforward compensation algorithm. The processor is electrically connected to the water supply pipeline and controls the raw water transported by the water supply pipeline through control signals. It connects to the UAV flight control system via a CAN bus and acquires the UAV's three-axis acceleration and attitude angle data. It estimates the disturbance effect of maneuver overload on the water supply pipeline through the built-in feedforward compensation algorithm. The disturbance effect is superimposed as a feedforward value on the control signal of the water supply pipeline through the PID control module to offset the effect of flight inertia on the raw water transported by the water supply pipeline.

[0008] Beneficial effects: Furthermore, the feedforward compensation algorithm includes a feedforward compensation model and a disturbance estimation model. The feedforward compensation model is as follows:

[0009] In the formula, This is the feedforward control quantity; For feedforward compensation gain The disturbance estimation model is as follows:

[0010] In the formula, a x a y a z The three-axis accelerations in the UAV's body coordinate system; The pitch angle, This refers to the roll angle; This refers to the equivalent pressure disturbance at the reactor inlet caused by maneuvering flight.

[0011] Furthermore, to compensate for model errors and unmodeled disturbances, a PID feedback control model was constructed based on the measured pressure of the reactor:

[0012] In the formula, For feedback control, For proportionality coefficient, For integral coefficients, These are the differential coefficients; For pressure deviation, The target pressure for the reactor, The actual measured pressure of the reactor; The control signal acting on the water supply pump is:

[0013] In the formula, For water supply pump control signals; This is a baseline control quantity set based on basic hydrogen production needs.

[0014] Furthermore, to ensure the water supply pump operates within a safe control range, saturation constraints are also included:

[0015] This is the minimum value of the water supply pump control signal. This represents the maximum value of the water supply pump control signal.

[0016] Furthermore, it also includes a solar power generation module as an auxiliary energy generation unit. The solar power generation module includes several flexible solar panels, which are installed on the outside of the drone and can collect ambient light and convert it into electrical energy to supplement the system's energy supply.

[0017] Furthermore, the solar power generation module also includes a maximum power point tracking controller, which is located between the flexible circuit board and the lithium battery pack and connects the flexible circuit board and the lithium battery pack.

[0018] Furthermore, the solid hydrolysis reactor includes a reaction chamber, a solid hydrogen storage device is detachably installed inside the reaction chamber, and a heating component is built into the reaction chamber. The heating component is electrically connected to the processor and can be started and stopped according to the received control signal. The energy management mechanism also includes a sensor assembly, which includes an environmental sensor, a temperature sensor for monitoring the temperature of the reaction chamber, and a pressure sensor for monitoring the pressure of the reaction chamber. The environmental sensor is fixed on the aircraft shell and can monitor the aircraft's flight altitude, ambient temperature, and ambient air pressure. The temperature sensor and the pressure sensor are both integrated on the reaction chamber shell and can monitor the temperature and pressure inside the reaction chamber.

[0019] Furthermore, the energy storage unit includes a lithium battery pack, the input end of which is connected to the output end of the proton exchange membrane fuel cell stack. The water supply pipeline includes a water tank and a water pump. The water tank is used to store the raw water that initiates the hydrolysis of magnesium hydride. The water pump is located between the water tank and the solid hydrolysis reactor and is electrically connected to the energy storage unit, and can transport the raw water stored in the storage tank to the solid hydrolysis reactor.

[0020] Furthermore, a first gas-liquid separator is installed at the anode inlet, and a pressure reducing valve is installed between the first gas-liquid separator and the anode inlet, and is connected to the anode inlet through the pressure reducing valve; the proton exchange membrane fuel cell stack also includes an anode outlet and a cathode inlet, a second gas-liquid separator is installed at the anode outlet, the outlet of the second gas-liquid separator is connected to a circulating air pump, and is connected to the anode inlet through the circulating air pump; an air compressor is connected to the cathode inlet, and a third gas-liquid separator is also installed between the air compressor and the cathode inlet, and the liquid outlet of the third gas-liquid separator is connected to a water storage tank. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the modular system structure connection according to an embodiment of the present invention.

[0022] The reference numerals in the accompanying drawings include: system DC bus 001, solid hydrolysis reactor 110, solid hydrogen storage device 120, water supply pump 121, water storage tank 122, lithium polymer battery pack 131, battery management system 132, proton exchange membrane fuel cell stack 140, first gas-liquid separator 141, pressure reducing valve 142, second gas-liquid separator 143, circulating air pump 144, third gas-liquid separator 145, air compressor 146, cooling fan 147, solar power generation module 150, maximum power point tracking controller 151, processor 210, solid-state relay 211, temperature sensor 221, pressure sensor 222, environmental sensor 223, and light intensity sensor 224. Detailed Implementation

[0023] Example 1 Example 1 is basically as shown in the appendix. Figure 1 As shown, Figure 1The illustrated UAV hybrid energy supply and management system includes an energy supply unit comprising a power generation unit and an energy storage unit. The power generation unit includes a hydrogen generation module and a power supply module. The hydrogen generation module includes a hydrolysis reactor and a water supply pipeline. A solid hydrogen storage component 120, with magnesium hydride solid hydrogen storage material as its core, is detachably installed inside the hydrolysis reactor. The water supply pipeline is connected to the solid hydrolysis reactor 110 and can supply raw water for initiating the hydrolysis of magnesium hydride to the reactor 110. In this embodiment, the hydrolysis reactor includes a reaction chamber, within which the solid hydrogen storage component 120 is installed. The solid hydrogen storage component 120 includes a shell. The device comprises a magnesium hydride solid hydrogen storage material and a housing with several through holes on the side wall. The magnesium hydride solid hydrogen storage material is filled inside the housing. The housing and the reaction chamber are detachably connected. In this embodiment, the housing and the reaction chamber are connected by a snap-fit. The water supply pipeline includes a water storage tank 122 and a water supply pump 121. The water storage tank 122 contains raw water. The water supply pump 121 is located between the reaction chamber and the water storage tank 122 and transports the raw water stored in the water storage tank 122 to the reaction chamber. In use, the magnesium hydride solid hydrogen storage material is installed in the reaction chamber, and the water supply pump 121 is used to transport the raw water to the reaction chamber, causing the magnesium hydride in the reaction chamber to undergo a hydrolysis reaction and generate hydrogen gas. The reaction equation is as follows: MgH2+2H2O→Mg(OH)2+2H2↑.

[0024] The power generation module includes a proton exchange membrane fuel cell stack 140 and a gas-liquid separation assembly. The proton exchange membrane fuel cell stack 140 is provided with an anode inlet, an anode outlet, a cathode inlet, a cathode outlet, and a current output terminal. The cathode inlet is connected to an air compressor 146, and the power output terminal is connected to the DC current bus of the unmanned aerial vehicle (UAV) to power the UAV's flight. The gas-liquid separation assembly includes a first gas-liquid separator 141, a second gas-liquid separator 143, and a third gas-liquid separator 145. Each of the first, second, and third gas-liquid separators includes a separator housing. The side wall of the separator housing is provided with a first inlet and outlet for the mixed fluid to enter, the top is provided with a second inlet and outlet for gas to flow out, and the bottom is provided with a third inlet and outlet for liquid to flow out. The third inlet and outlet are all connected to a water storage tank 122 to transfer the liquid water generated during the operation of the proton exchange membrane fuel cell stack 140 into the water storage tank 122 for use as feed water. The difference is that the first gas-liquid separator... Separator 141 is located between the anode inlet and the solid hydrolysis reactor 110. The first inlet and outlet are connected to the gas outlet of the hydrolysis reactor. A pressure reducing valve 142 is installed between the second inlet and outlet and the anode inlet and is connected through the pressure reducing valve 142. The second gas-liquid separator 143 is located between the anode outlet and the anode inlet, and a circulating air pump 51 is installed between the second gas-liquid separator 143 and the anode inlet. The first inlet and outlet are connected to the anode outlet, and the second inlet and outlet are connected to the anode inlet through the circulating air pump 51. The first inlet and outlet of the third gas-liquid separator 145 are connected to the cathode outlet, and the second inlet and outlet are connected to the atmosphere. Hydrogen is transported along the pipeline through the first gas-liquid separator 141 to the anode inlet to supply fuel for the proton exchange membrane fuel cell stack 140 to generate electricity. Unreacted hydrogen flows out through the anode outlet and returns to the anode inlet through the second gas-liquid separator 143 and the circulating air pump 51 in sequence. Air is injected through the cathode inlet by the air compressor 146 and discharged through the third gas-liquid separator 145 connected to the cathode outlet.

[0025] The energy storage unit includes a lithium battery as a starting power source. The lithium battery is electrically connected to the air compressor 146, the circulating air pump 51, and the water supply pump 121 via the DC bus of the unmanned aerial vehicle (UAV) and supplies power to the air compressor 146, the circulating air pump 51, and the water supply pump 121. For example, the lithium battery consists of a lithium polymer battery pack 11 and a battery management system 132. The lithium battery is electrically connected to the DC bus of the UAV via the battery management system 132. During operation, the power stored in the lithium battery supplies power to the air compressor 146, the circulating air pump 51, and the water supply pump 121. At the same time, the proton exchange membrane fuel cell stack 140 replenishes the energy of the lithium battery.

[0026] When using the unmanned aerial vehicle (UAV) in the field, the user only needs to carry a certain amount of solid hydrogen storage unit 120 and a certain amount of water as starting materials for hydrolysis to maintain the UAV's flight. Compared with existing solar or lithium battery power supply, under the same load, the solid hydrogen storage unit 120, which uses magnesium hydride solid hydrogen storage material as its core, and the proton exchange membrane fuel cell stack 140 generate more electricity and have a longer flight time. At the same time, during mission breaks, the latch structure can be opened to remove the depleted removable fuel unit 1 and replace it with a new fuel unit for rapid refueling. The water tank 122 can be replenished with water as needed.

[0027] Example 2 The continuous overload G-force generated by the drone during climbing, diving, and turning will change the static pressure distribution and flow characteristics of the fluid water and slurry in the solid hydrolysis reactor 110 and pipelines, which may lead to uneven instantaneous water supply, reduced gas-liquid separation efficiency, and fluctuations in reaction pressure, thereby affecting the stability of hydrogen supply.

[0028] Based on Example 1, to ensure the stability of hydrogen supply, an energy management mechanism is also included. The energy management mechanism includes a processor 210 and a solid-state relay 211. The processor 210 is connected to the system DC bus 001 through the solid-state relay 211 and controls the output current of the system DC bus 001 through the solid-state relay 211. The processor 210 has a built-in PID control module and a feedforward compensation algorithm. The processor 210 is connected to the water supply pipeline by electrical signal and controls the raw water transported by the water supply pipeline through the control signal. It is connected to the UAV flight control system via CAN bus and obtains the UAV's three-axis acceleration and attitude angle data. The built-in feedforward compensation algorithm estimates the disturbance effect of maneuver overload on the water supply pipeline. The PID control module adds the disturbance effect as a feedforward value to the control signal of the water supply pipeline to offset the influence of flight inertia on the transport of raw water by the water supply pipeline.

[0029] Specifically, the feedforward compensation algorithm includes a feedforward compensation model and a disturbance estimation model. The feedforward compensation model is as follows:

[0030] In the formula, This is the feedforward control quantity; For feedforward compensation gain The disturbance estimation model is as follows:

[0031] In the formula, a x a y a z The three-axis accelerations in the UAV's body coordinate system; The pitch angle, This refers to the roll angle; This refers to the equivalent pressure disturbance at the reactor inlet caused by maneuvering flight.

[0032] Furthermore, to compensate for model errors and unmodeled disturbances, a PID feedback control model was constructed based on the measured pressure of the reactor:

[0033] In the formula, For feedback control, For proportionality coefficient, For integral coefficients, These are the differential coefficients; For pressure deviation, The target pressure for the reactor, The actual measured pressure of the reactor; The control signal acting on the water supply pump is:

[0034] In the formula, For control signals of the water supply pipeline; This is a baseline control quantity set based on basic hydrogen production needs.

[0035] Furthermore, to ensure the water supply pump operates within a safe control range, saturation constraints are also included:

[0036] This is the minimum value of the water supply pump control signal. This represents the maximum value of the water supply pump control signal.

[0037] During operation, the processor 210 acquires in real time the UAV's three-axis accelerations ax, ay, az and attitude angles (pitch angle θ and roll angle) provided by the flight control system via the CAN bus. Data such as attitude and acceleration are used. Through the built-in model, the processor 210 estimates the disturbance effect of the maneuver overload on the equivalent pressure difference Δp between the water supply pipeline of the water supply pump 121 and the inlet of the solid hydrolysis reactor 110 based on real-time attitude and acceleration data.

[0038] Subsequently, the processor 210 uses the calculated pressure disturbance value as a feedforward and adds it in real time to the base speed control signal of the water supply pump 121 to counteract the effect of inertial force in advance. For example, when the UAV climbs at a large angle, the algorithm predicts that the inertial force will cause water to accumulate at the rear of the reactor, causing the reactor inlet pressure to drop instantaneously. Therefore, it will increase the pump speed in advance and appropriately to actively counteract the inertial effect.

[0039] Based on the feedforward compensation, the system simultaneously receives feedback signals from the reactor pressure sensor 222 and fine-tunes them through the PID control module built into the microprocessor 210 in the energy management unit 8, thus forming a composite control mode that combines feedforward predictive compensation and feedback precise correction. This mode significantly enhances the system's ability to suppress rapid disturbances, ensuring a highly stable hydrogen supply flow during dynamic flight phases such as climbs, dives, and turns.

[0040] Example 3 Based on Example 2, in order to reduce the load during field use and avoid the unmanned aerial vehicle (UAV) from stalling due to the depletion of the lithium battery used as the starting power source during long-term storage, the power generation unit also includes a solar power generation module. The solar power generation module 9 includes several flexible circuit boards. A maximum power point tracking controller 10 is provided between the flexible circuit boards and the DC bus 001 of the UAV system. The flexible circuit boards are integrated on the UAV shell or on the UAV wing and connect the solar power generation module to the DC bus of the UAV.

[0041] The energy management system also includes a sensor assembly, which includes a temperature sensor 221, a pressure sensor 222, an environmental sensor 223, and a light intensity sensor 224 that are electrically connected to the processor 210. The temperature sensor 221 and the pressure sensor 222 are integrated into the reaction chamber of the solid hydrolysis reactor 110 to monitor the temperature and pressure in the reaction chamber in real time. The environmental sensor 223 and the light intensity sensor 224 are fixed on the shell of the unmanned aerial vehicle to monitor environmental data such as the flight altitude, ambient temperature, and ambient air pressure of the unmanned aerial vehicle, as well as the light intensity.

[0042] The processor 210 incorporates a solar intermittent power smoothing and predictive scheduling mode and a high-altitude / low-temperature environment adaptive operation mode. The solar intermittent power smoothing and predictive scheduling mode addresses the intermittency and volatility of solar photovoltaic output. Based on short-term prediction and ramp control, it achieves smooth scheduling and power allocation across multiple energy sources, including photovoltaics, fuel cells, and lithium batteries. This includes a rate-of-change monitoring and prediction model, a power deficit calculation model, a fuel cell power ramp control model, a water pump 121 coupled regulation model, and a lithium battery buffer model. The core logic follows a "prediction-based, scheduling-assisted" core chain as follows: MPPT output power + illuminance sensor → rate of change monitoring / short-term prediction module → power deficit calculation module → fuel cell reference power ramp generator → water supply pump 121 coupling adjustment module → fuel cell system; simultaneously, lithium battery / BMS is connected to the bus power balance module for instantaneous compensation.

[0043] Specifically, the rate of change monitoring and prediction model calculates the rate of change of solar power in real time and, combined with the trend of light intensity change, uses a short-time linear extrapolation model to predict the solar output power at the future time "τ". The calculation formula is as follows:

[0044] In the formula, The rate of change of solar power; Provides real-time power output for solar photovoltaic modules.

[0045]

[0046] For prediction of the time domain The solar power output after that.

[0047] when When the value is continuously negative and its absolute value is greater than a preset threshold, it is determined that continuous light attenuation has occurred.

[0048] The power deficit calculation model is as follows:

[0049] In the formula, ΔPt represents the predicted power deficit; Power required by the load; when This indicates that there may be insufficient photovoltaic power supply in the future, and it is necessary to schedule the output of fuel cells in advance.

[0050] The fuel cell power ramp control model is used to avoid overshoot or hydrogen supply mismatch caused by sudden command changes in the fuel cell. The fuel cell reference power changes towards the target value according to a preset ramp rate.

[0051] In the formula, Represented as target power, Fuel cell reference power, Indicates the maximum climb rate A ramp function with amplitude limiting. Its discrete form can be written as:

[0052] In the formula, To control the period (sampling time); This represents the limiting function, which limits the error. Limited to Within this period, ensure that the power variation does not exceed the physical allowable value and meets the power constraints:

[0053] In the formula, Minimum operating power of fuel cells; Maximum operating power of fuel cells.

[0054] The water supply pump coupling regulation model is used to establish a mapping relationship between the water supply pump reference control quantity and the fuel cell reference power, so as to ensure that the increase in fuel cell power corresponds to an increase in hydrogen consumption rate. The mapping relationship is as follows:

[0055] In the formula, Reference control values ​​for water supply pumps; The mapping function is used to map the fuel cell reference power. The function is converted into the control quantity of the water supply pump 121. This mapping is usually obtained through experimental calibration and reflects the correspondence between the hydrogen consumption rate and the required water supply of the fuel cell under different power conditions.

[0056] Preferably, to maintain a gradual change in hydrogen supply, the It is also adjusted according to the ramp rate that matches the power of the fuel cell.

[0057] During the transition phase between the decline in solar power and the incomplete increase in fuel cell power, lithium batteries assume the responsibility of instantaneous power balance, and their output power satisfies the lithium battery buffer model:

[0058] In the formula, The charging and discharging power of lithium batteries; Power required by the load; Provides real-time power output for solar photovoltaic modules; This represents the actual output power of the fuel cell; when When indicates battery discharge compensation; when This indicates that the battery is absorbing excess power to charge.

[0059] Through the aforementioned predictive scheduling and ramp control, the energy management unit can increase the fuel cell output and simultaneously adjust the hydrogen supply rate before the solar output begins to decline continuously. At the same time, it can use lithium batteries to quickly compensate for the instantaneous difference during the transition period, thereby achieving a smooth and seamless switch between the main solar power supply mode and the main fuel cell power supply mode, and reducing bus voltage fluctuations and battery high current surges.

[0060] The high-altitude / low-temperature environment adaptive operation mode is designed for extreme environments of high altitude, low pressure, and low temperature. It adopts a collaborative control strategy of "one-time judgment and three-way linkage" and ensures the stable operation of the hydrogen production and power generation system in extreme environments through environmental adaptive control of multiple actuators.

[0061] Specifically, the system switches to high-altitude / low-temperature adaptive operation mode when one of the following environmental parameters is met:

[0062] In the formula, The ambient air pressure; This is the threshold for switching to low-voltage mode; Ambient temperature; This is the threshold for switching to low-temperature mode; and It can be preset according to the critical point of performance degradation of fuel cells and hydrogen production systems.

[0063] The air compressor speed is compensated based on ambient air pressure and temperature to ensure the oxygen supply to the fuel cell cathode. According to the ideal gas law, the air density satisfies the following:

[0064] air density; Ambient temperature; This refers to ambient air pressure.

[0065] When the target oxygen mass flow rate remains constant, the air compressor compensation control model is as follows:

[0066] In the formula, The target speed of the air compressor; This is the reference speed under standard conditions; This refers to air density.

[0067] In low-temperature environments, the reactor heating components are activated, and a closed-loop temperature control system is established to maintain the reaction chamber temperature within the efficient reaction zone.

[0068] in, Temperature deviation; The target temperature for the reactor; The actual measured temperature of the reactor; This refers to the proportional coefficient of the temperature controller parameters; The integral coefficient of the temperature controller; The differential coefficient of the temperature controller is 70±5℃. In this embodiment, the target temperature of the reactor is 70±5℃.

[0069] Meanwhile, to maintain anode circulation and humidity management capabilities, the target speed of the hydrogen circulation pump can be adaptively adjusted based on the anode circuit pressure or differential pressure.

[0070] in, Target speed of the hydrogen circulation pump; The anode circulating pressure difference, These are the differential pressure-related calibration functions and the temperature-related calibration functions; Mapping the anode pressure difference to a speed base value, when the pressure difference increases, it is usually necessary to increase the speed of the circulating pump to maintain an appropriate circulation ratio. When the pressure difference is too small, the speed may be reduced to save energy or avoid condensation. Based on environmental pressure and temperature, the rotational speed is compensated. In low-pressure (high-altitude) or low-temperature environments, additional rotational speed compensation is added to ensure that the anode circulation capacity and water management performance are not degraded due to environmental changes.

[0071] The operation method is as follows: ①System Startup and Basic Working Mode Start-up phase: According to the instructions, the water supply pump 121 is started to produce hydrogen. After the hydrogen is ready, the air compressor 146 is started and the fuel cell output relay is closed, so that the proton exchange membrane fuel cell stack 140 starts generating electricity.

[0072] Takeoff / High Power Phase: Simultaneously close the discharge relay of lithium polymer battery pack 131 and the output relay of proton exchange membrane fuel cell stack 140, with both providing high power.

[0073] During daytime cruising under strong sunlight: Close the output relays of the solar MPPT10 and the proton exchange membrane fuel cell stack 140. Prioritize solar power use, adjusting the fuel cell to a lower power level or maintaining basic load. If solar power is excessive, the EMU8 can control the excess power to charge the lithium polymer battery pack 131 through the charging circuit.

[0074] During daytime cruise in low light conditions or at night, the system is mainly powered by the proton exchange membrane fuel cell stack 140. The output relay of the proton exchange membrane fuel cell stack 140 is closed to connect it to the system DC bus 001. The lithium polymer battery pack 131 acts as a power buffer unit, which performs bidirectional adjustment according to the load power change. When the load power is higher than the fuel cell output power, the load demand is compensated by discharging. When the fuel cell output power is greater than the load demand, the excess energy is absorbed by charging to achieve system power balance.

[0075] Energy replenishment: During mission breaks, the latch structure can be opened to remove the depleted removable fuel unit 1 and replace it with a new fuel unit for rapid refueling. The water tank 122 can be replenished with water as needed.

[0076] ② Solar intermittent power smoothing and predictive scheduling mode Airborne solar power generation is affected by cloud cover, and its output power may experience drastic step changes on the order of seconds or minutes. If the hydrogen production and power generation system responds slowly, it can lead to fluctuations in the bus voltage or force the lithium battery to frequently perform high-current compensation, affecting the system's lifespan and stability.

[0077] To address the issue of drastic power fluctuations in airborne solar power generation caused by cloud cover, and to avoid bus voltage fluctuations and frequent high-current compensation from lithium batteries, the processor 210 is configured to execute the following predictive scheduling strategy: First, the rate of change is monitored and the trend is predicted. The processor 210 monitors the solar power P output by the maximum power point tracking controller 10 in real time and calculates its rate of change dP / dt. At the same time, combined with the data from the light intensity sensor 224, a short-time prediction algorithm, such as a linear extrapolation algorithm based on a sliding window, is used to determine the trend, in order to distinguish between instantaneous fluctuations and continuous decay.

[0078] Next, power deficit feedforward and fuel cell power ramp control are executed. When it is predicted that the illumination will continue to weaken, the processor 210 calculates the expected power deficit ΔP for a future period. Then, a power ramp command is sent to the fuel cell system controller, causing its output power to increase at a preset, gradual rate, for example, 2%-5% of the rated power per second, to a target value corresponding to the sum of the current load and the power deficit ΔP. This ramp control aims to prevent the fuel cell from entering a state of insufficient hydrogen supply or overload due to sudden changes in power commands.

[0079] Simultaneously, hydrogen production is coupled and regulated. Based on the efficiency model of the fuel cell and the power boost command, the processor 210 synchronously and smoothly increases the power setting of the water supply pump 121 to ensure dynamic matching between hydrogen supply and power generation demand, thereby maintaining the stability of pressure inside the solid hydrolysis reactor 110.

[0080] During this process, the energy storage unit provides buffering. During the transition from the decrease in solar power to the increase in fuel cell power, the lithium polymer battery pack 131 utilizes the rapid response characteristics of the battery management system 132 to automatically fill the instantaneous power difference, ensuring the stability of the DC bus voltage and seamless connection of load power supply.

[0081] Through the above steps, the processor 210 has achieved a smooth and seamless transition from the "solar power supply" mode to the "fuel cell power supply" mode, significantly improving the overall stability and intelligent scheduling level of the hybrid energy system in dynamic environments.

[0082] ③Adaptive operation mode for high-altitude / low-temperature environments As flight altitude increases, ambient temperature and air pressure decrease. Low temperatures reduce the hydrolysis reaction rate and the electrochemical activity of the fuel cell; low air pressure affects the volumetric efficiency of air compressor 146. When the system enters the high-altitude / low-temperature adaptive operation mode, the energy management unit switches the controller parameters from the standard parameter set to the environmentally optimized parameter set:

[0083] in, This represents a set of control parameters, which includes at least pressure control parameters, temperature control parameters, flow setpoints, and related PID gains. It represents a standard parameter set, suitable for configuring control parameters in normal environments (normal pressure, normal temperature), taking into account both dynamic response and steady-state accuracy; This represents the set of environmental optimization parameters, which are control parameter configurations specifically designed for high-altitude (low-pressure) and / or low-temperature environments. They typically include more conservative ramp rates, enhanced integral action, and adjusted setpoints to improve the stability and safety of the system under extreme conditions. This represents the environmental pressure threshold, the pressure boundary value used to determine whether to enter "high-altitude" mode. This represents the ambient temperature threshold, the temperature boundary value used to determine whether to enter the "low temperature" mode.

[0084] The processor 210 continuously monitors altitude, air pressure, and temperature signals from the environmental sensor 104. When it determines that the ambient air pressure is lower than a specific altitude corresponding to a first preset threshold and / or the ambient temperature is lower than a second preset threshold, it automatically switches from the standard operating mode to this high-altitude / low-temperature adaptive operating mode. After the mode switch, the processor 210 immediately activates the heating component built into the solid hydrolysis reactor 110 and forms a closed-loop control loop based on the internal temperature feedback of the reactor to stably maintain the core temperature of the reactants within a preset optimized temperature range, such as 70±5°C, thereby eliminating the negative impact of external low temperature on the chemical reaction rate.

[0085] Adaptive parameters of key subsystems: Air compressor 146 compensation control: In response to the decrease in intake oxygen mass flow rate caused by low air pressure, the processor 210 dynamically adjusts the drive speed of the air compressor 146 based on the real-time ambient air pressure value and the pre-stored compensation parameter table, such as the air pressure-speed MAP, to ensure that the oxygen mass flow rate delivered to the fuel cell cathode meets the requirements.

[0086] Hydrogen circulation pump 51 adaptive control: Synchronously, the processor 210 adaptively adjusts the speed of the hydrogen circulation pump 51 based on the pressure feedback of the anode circuit to maintain effective hydrogen circulation and humidity management capabilities.

[0087] Global control parameter readjustment: In this mode, the processor 210 automatically loads and applies a set of control parameters specifically optimized for low-pressure and low-temperature environments, such as, but not limited to, the proportional, integral, and derivative gains of the PID algorithm, as well as key pressure and flow setpoints, so that the control behavior of the entire system is optimally matched with the current environmental conditions.

[0088] ④ Active safety pressure regulation mode Traditional safety valve depressurization leads to the waste of precious fuel and safety risks. A safer handling method that is more suitable for the energy-intensive nature of drones is needed.

[0089] To avoid fuel waste caused by traditional mechanical depressurization, the processor 210 implements a graded active pressure regulation strategy. Pressure range management: The system presets three pressure ranges: normal operating range, active regulation range, and emergency release range. Pressure range determination is as follows:

[0090] When pressure sensor 222 detects that the system pressure has entered the active regulation zone, the following closed-loop regulation process is triggered: The processor 210 immediately sends a command to the fuel cell system controller to increase its output power by an increment related to the current pressure overshoot, in order to quickly consume excess hydrogen. Simultaneously, the processor 210 instructs the lithium battery management system 132 to enter a high-current charging preparation state to receive and store the excess electrical energy generated by the increased fuel cell power. Subsequently, the processor 210 begins to gradually reduce the power or speed setting of the water supply pump 121, reducing the hydrogen generation rate at its source. Once the pressure returns to the normal operating range, the processor 210 sequentially and gradually restores the fuel cell power, exits the battery charging mode, and adjusts the water supply pump power to its normal value.

[0091] This model transforms potential overpressure risks into a controllable energy storage process, achieving closed-loop, efficient energy utilization while ensuring system safety. Reaction byproducts, such as magnesium hydroxide, are primarily stored in the removable fuel unit 1 and recycled upon replacement. The entire system, through centralized monitoring and strategic control by processor 210, achieves efficient, safe, and seamless collaborative operation of solar energy, hydrogen fuel cells, and lithium batteries, significantly improving the drone's endurance, environmental adaptability, and mission reliability.

[0092] Example 4 Based on Example 3, an active adjustment de-control mode is also included. The operation steps of the active adjustment de-control mode are as follows: Step 1: Calculate the normalized pressure deviation. , which represents the relative position of the current pressure within the active adjustment range: used to linearly map the pressure deviation to the control adjustment coefficient.

[0093] ,

[0094] 0: Pressure has just reached the lower limit of regulation, requiring minimal intervention. 1: When the pressure is close to the emergency threshold, the intervention amount is the largest.

[0095] Step 2: Increase the power generation of the fuel cell and actively consume excess hydrogen:

[0096] In the formula, : Adjusted fuel cell power command, used to actively consume excess hydrogen.

[0097] : Base power command corresponding to normal load.

[0098] Pressure-power regulation gain is used to control the magnitude of power increase.

[0099] : Rated power of fuel cell, used as the adjustment base value.

[0100] The maximum permissible output power of the fuel cell is used as the upper limit.

[0101] Step 3: Reduce the speed of the water supply pump to decrease the hydrogen production rate at the source:

[0102] Adjusted water supply pump control quantity : Basic control quantities of water supply pump under normal operating conditions The sensitivity of adjusting the gain of the water supply pump to control the rate of decrease.

[0103] Minimum control quantity to prevent the pump from stopping completely and causing an interruption in subsequent hydrogen supply.

[0104] Step 4: Excess power generated by the fuel cell beyond the load is absorbed by the battery.

[0105]

[0106] Lithium battery charging power refers to the surplus power of a fuel cell beyond its load capacity.

[0107] Real-time system load power : Current state of charge of the lithium battery, ranging from [0, 1] or percentage.

[0108] Charging efficiency, taking into account battery charging and discharging losses.

[0109] Rated energy storage capacity of lithium batteries Control cycle when Execute in sequence ① Safety valve opens → ② = →③ = →④ Fault Reporting Furthermore, to prevent frequent switching near the control quantum threshold, a hysteresis exit mechanism is also included: Conditions for exiting active control mode: And duration ≥

[0110] Hysteresis dead zone width, set to a value lower than The exit threshold is set to avoid frequent entry and exit from the adjustment zone due to small pressure fluctuations.

[0111] Exit confirmation time requires that the pressure remain below the exit threshold for a certain period of time before exiting the active adjustment zone, in order to prevent instantaneous disturbances from causing erroneous state switching.

[0112] Through the above-mentioned environmental assessment, air compressor compensation, reactor heating, and parameter set readjustment, the system can maintain the hydrogen production reaction rate, fuel cell oxygen supply capacity, and overall control stability under high altitude, low temperature, and low pressure conditions, thereby expanding the system's operating envelope and improving reliability under extreme environments.

[0113] The energy management unit does not control individual components in isolation, but rather coordinates flight status, environmental parameters, solar energy input, and hydrogen production / power generation status as a unified coupled system. The dynamic flight feedforward compensation control mode primarily suppresses disturbances to hydrogen production pressure stability caused by maneuvering flight; the intermittent solar power smoothing and predictive scheduling mode primarily achieves smooth power redistribution among solar energy, fuel cells, and lithium batteries; and the high-altitude / low-temperature environment adaptive operation mode primarily maintains the working capacity of the reactor, air compressor, and circulation system in harsh environments. These three modes can operate independently, or be superimposed or switched by the energy management unit based on real-time operating conditions.

[0114] The above descriptions are merely embodiments of the present invention, and common knowledge such as specific technical solutions and / or characteristics are not described in detail here. It should be noted that the technical means for solving problems in the above embodiments of the present invention can be used in combination to solve multiple technical problems simultaneously. For those skilled in the art, several modifications and improvements can be made without departing from the technical solutions of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A dynamic adaptive unmanned aerial vehicle hybrid energy supply and management system, comprising a power generation unit and an energy storage unit, characterized in that: The power generation unit includes a hydrogen generation module and a power generation module. The hydrogen generation module includes a solid hydrolysis reactor and a water supply pipeline. The solid hydrolysis reactor is equipped with a detachable solid hydrogen storage component with magnesium hydride solid hydrogen storage material as its core. The water supply pipeline is connected to the solid hydrolysis reactor and can supply the reactor with raw water to initiate the hydrolysis of magnesium hydride. The power generation module includes a proton exchange membrane fuel cell stack. The proton exchange membrane fuel cell stack includes an anode inlet. The anode inlet receives the hydrogen output from the solid hydrolysis reactor and converts the hydrogen energy contained in the hydrogen into electrical energy used by the drone. The energy storage unit is electrically connected to the water supply pipeline and can supply power to the water supply pipeline.

2. The hybrid energy supply and management system with dynamic adaptability for unmanned aerial vehicles according to claim 1, characterized in that: It also includes an energy management mechanism, which includes a processor with a built-in PID control module and a feedforward compensation algorithm. The processor is electrically connected to the water supply pipeline and controls the raw water transported by the water supply pipeline through the control signal. It is connected to the UAV flight control system via CAN bus and obtains the UAV's three-axis acceleration and attitude angle data. The built-in feedforward compensation algorithm estimates the disturbance effect of maneuver overload on the water supply pipeline. The PID control module adds the disturbance effect as a feedforward value to the control signal of the water supply pipeline to offset the effect of flight inertia on the raw water transported by the water supply pipeline.

3. The hybrid energy supply and management system with dynamic adaptability for unmanned aerial vehicles according to claim 2, characterized in that: The feedforward compensation algorithm includes a feedforward compensation model and a disturbance estimation model. The feedforward compensation model is as follows: In the formula, is a feedforward control amount; is a feedforward compensation gain The disturbance estimation model is as follows: wherein a x , a y , a z is the three-axis acceleration in the UAV body coordinate system; is the pitch angle, is the roll angle; is the reactor inlet equivalent pressure disturbance caused by the maneuvering flight.

4. The UAV hybrid energy supply and management system with dynamic adaptability according to claim 3, characterized in that: To compensate for model errors and unmodeled disturbances, a PID feedback control model was constructed based on the measured pressure of the reactor: In the formula, For feedback control, For proportionality coefficient, For integral coefficients, These are the differential coefficients; For pressure deviation, The target pressure for the reactor, The actual measured pressure of the reactor; The control signal acting on the water supply pump is: In the formula, For control signals of the water supply pipeline; This is a baseline control quantity set based on basic hydrogen production needs.

5. A hybrid energy supply and management system for unmanned aerial vehicles with dynamic adaptability as described in claim 4, characterized in that: To ensure the water supply pump operates within a safe control range, saturation constraints are also included: This is the minimum value of the water supply pump control signal. This represents the maximum value of the water supply pump control signal.

6. A hybrid energy supply and management system for unmanned aerial vehicles (UAVs) with dynamic adaptability as described in claim 5, characterized in that: The solid hydrolysis reactor includes a reaction chamber, a solid hydrogen storage device that is detachably installed inside the reaction chamber, a heating component built into the reaction chamber, the heating component being electrically connected to the processor and able to start and stop according to the received control signal; the energy management mechanism also includes a sensor assembly, which includes an environmental sensor, a temperature sensor for monitoring the temperature of the reaction chamber, and a pressure sensor for monitoring the pressure of the reaction chamber. The environmental sensor is fixed to the aircraft shell and can monitor the aircraft's flight altitude, ambient temperature, and ambient air pressure. The temperature sensor and pressure sensor are both integrated on the reaction chamber shell and can monitor the temperature and pressure inside the reaction chamber.

7. A hybrid energy supply and management system for unmanned aerial vehicles with dynamic adaptability as described in claim 1, characterized in that: It also includes a solar power generation module as an auxiliary energy generation unit. The solar power generation module includes several flexible solar panels. The flexible solar panels are set on the outside of the drone and can collect ambient light and convert it into electrical energy to supplement the system's energy supply.

8. A hybrid energy supply and management system for unmanned aerial vehicles with dynamic adaptability according to claim 7, characterized in that: The solar power generation module also includes a maximum power point tracking controller, which is located between the flexible circuit board and the lithium battery pack and connects the flexible circuit board and the lithium battery pack.

9. A hybrid energy supply and management system for unmanned aerial vehicles (UAVs) with dynamic adaptability according to claim 1, characterized in that: The energy storage unit includes a lithium battery pack, the input of which is connected to the output of the proton exchange membrane fuel cell stack. The water supply pipeline includes a water tank and a water pump. The water tank is used to store the raw water that initiates the hydrolysis of magnesium hydride. The water pump is located between the water tank and the solid hydrolysis reactor and is electrically connected to the energy storage unit. It can transport the raw water stored in the water tank to the solid hydrolysis reactor.

10. A hybrid energy supply and management system for unmanned aerial vehicles (UAVs) with dynamic adaptability according to claim 1, characterized in that: The anode inlet is equipped with a first gas-liquid separator, and a pressure reducing valve is installed between the first gas-liquid separator and the anode inlet, and is connected to the anode inlet through the pressure reducing valve; the proton exchange membrane fuel cell stack also includes an anode outlet and a cathode inlet, the anode outlet is equipped with a second gas-liquid separator, the outlet of the second gas-liquid separator is connected to a circulating air pump, and is connected to the anode inlet through the circulating air pump; the cathode inlet is connected to an air compressor, and a third gas-liquid separator is also installed between the air compressor and the cathode inlet, the liquid outlet of the third gas-liquid separator is connected to a water storage tank.

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