A method for controlling an unmanned aerial vehicle de-icing propeller and unmanned aerial vehicle

Abstract

The embodiment of the application provides a kind of unmanned plane deicing propeller control method and unmanned plane, belong to unmanned plane deicing technical field.The control method includes: obtaining the geometric parameter and thermal physical parameter of unmanned plane deicing propeller;Based on Romberg, the geometric model of heating film heating area is constructed;According to the geometric parameter and geometric model, the heating area of heating film is calculated;According to the heating area of the heating film and the thermal physical parameter, the required heat power is determined;According to the required heat power, the executable parameter is determined to take power from battery.The application determines the specific heating coverage of the leading edge of the blade, accurately calculates the required heat power, and designs the dedicated battery parameters and integrated circuit board, to ensure the accurate matching of the battery on-demand supply, and realizes the temperature regulation and power supply protection of PI heating film.

Description

Technical Field

[0001] This invention relates to the field of drone de-icing technology, specifically to a control method for a drone de-icing propeller and the drone itself. Background Technology

[0002] In low-temperature, high-humidity, and icing-prone environments, UAV propeller surfaces are prone to icing at the leading-edge stagnation point, leading to decreased lift, increased vibration, and higher energy consumption. In severe cases, this can even cause stall and structural damage. UAV de-icing blades are critical components for UAV operations in low-temperature, icing environments. Their core function is to remove ice from the blade surface through heating or other methods, ensuring flight stability. Currently, electrothermal de-icing technology, used in aircraft, shows good application potential in small UAV platforms due to its rapid response, precise control, and relatively simple structure. However, adapting it to high-speed rotating UAV propellers still faces a series of key technical challenges: Existing designs often rely on experience or large safety margins to select heating power and battery capacity for heating the heating film, lacking precise calculation models for specific blade configurations, heating areas, and environmental conditions. This can easily lead to either insufficient de-icing power and poor performance of the drone propeller heating film, or excessive battery capacity and weight, sacrificing the drone's payload and flight time. Achieving precise and integrated design from heating requirements to power configuration is key to improving the overall energy efficiency and practicality of the system. Summary of the Invention

[0003] The purpose of this invention is to provide a control method for a drone de-icing propeller and a drone, which solves the problem of precise matching from the heating requirements of the drone propeller to the battery configuration.

[0004] To achieve the above objectives, embodiments of the present invention provide a control method for a drone de-icing propeller, the control method comprising: Obtain the geometric and thermophysical parameters of the drone's de-icing propeller; A geometric model of the heating area of ​​the heating film was constructed based on Romberg; The heating area of ​​the heating film is calculated based on the geometric parameters and geometric model. The required heating power is determined based on the heating area and thermophysical parameters of the heating film; Based on the required heating power, the executable parameters are determined to draw power from the battery.

[0005] Optionally, a geometric model of the heating area of ​​the heating film is constructed based on Romberg, including: The radial chord length distribution function of the blade is determined according to formula (1). (1) The integration kernel function and integration interval are determined according to formula (2). (2) The integral interval is bisected according to formulas (3) to (4) to obtain the complex trapezoidal value. (3) (4) in, Let be the radial chord length distribution function of the blade. The total radius of the blades, For the root chord length of the propeller blade, The heating area of ​​a single-sided PI heating film. For any radial position of the blade, The radial termination radius of the PI heating film. The radial starting radius of the PI heating film. For chordal heating ratio, To divide the interval into equal parts The complex trapezoidal value after division, To divide the interval into equal parts The complex trapezoidal value after division, For the first The step size of the integral after the second binary search. Let be the index of the infinitesimal element within the integration interval. Let be the degree of bisection of the integration interval. This is the lower limit of the integration interval. This represents the upper limit of the integration interval; The heating area of ​​the heating film was obtained using the Romberg method.

[0006] Optionally, the heating area of ​​the heating film is obtained based on the Romberg method, including: Based on Richardson extrapolation, the Romberg value is generated according to formula (5). (5) in, For the first Second extrapolation, the first The Romberg integral value after the second binary division. For the first Second extrapolation, the first The Romberg integral value after the second binary division. For Richardson's extrapolation count; Calculate the difference between the current extrapolated Romberg value and the previous extrapolated Romberg value; Determine whether the difference is less than a first preset threshold; If the difference is less than the first preset threshold, the heating area of ​​the heating film is determined based on the currently extrapolated Romberg value.

[0007] Optionally, the required heating power is determined based on the heating area and thermophysical parameters of the heating film, including: The required heating power of the heating film is calculated according to formula (6). (6) The critical power density for de-icing is calculated according to formula (7). (7) in, The required heating power for the heating film, The number of blades, The aerodynamic convection heat transfer coefficient is... The thermal conductivity of the CFRP blade body is... The thickness of the blade leading edge. This is the heat transfer correction factor. The critical temperature difference for de-icing. Let be the critical power density function for de-icing. For ambient temperature, Based on the critical power density for de-icing.

[0008] Optionally, determining the execution parameters to draw power from the battery based on the required heating power includes: The minimum rated voltage of the battery is determined according to formula (8). (8) in, This is the minimum rated voltage of the battery. This is the battery's maximum output current. For circuit transmission efficiency, To improve the effective heat utilization rate of the heating film; Determine the required current value for the battery according to formula (9). (9) in, This is the current value required by the battery. Given the battery voltage; The minimum rated capacitance of the battery is determined according to formula (10). (10) in, This is the minimum rated capacitance of the battery. Depth of battery discharge, This refers to the heating time.

[0009] Optionally, the control method further includes: Obtain the key state parameters of the current battery; The executable parameters are compared with the key state parameters to determine the executability of the UAV.

[0010] On the other hand, the present invention also provides a drone, the drone comprising: The drone itself; A de-icing propeller, connected to the drone body, comprises: propeller blade body; A PI heating film is disposed on the leading edge of the blade body, and a thermal coating is disposed on the outer surface of the PI heating film. The hub is connected to the center of the blade body; A drive assembly, located at the bottom of the propeller hub, is used to drive the propeller body to rotate; A rotary power supply assembly is disposed on the top of the propeller hub and electrically connected to the PI heating film for heating the PI heating film; A controller, connected to the de-icing propeller, is used to execute the control method described above.

[0011] Optionally, the rotary power supply assembly includes: A circuit board mount is connected to the top of the propeller hub; A circuit board is disposed within the circuit board holder; A battery holder is disposed above the circuit board and connected to the circuit board; The battery is disposed within the battery holder and is electrically connected to the circuit board; A drain cover is disposed outside the battery and connected to the circuit board base.

[0012] Optionally, the circuit board integrates: A battery management module, connected to the battery, is used to detect the battery's voltage and charging / discharging current; A battery power display module, connected to the battery, is used to detect and display the battery power. A battery boost module, wherein the input terminal of the battery boost module is connected to the battery and the output terminal of the battery boost module is connected to the PI heating film, for boosting voltage and supplying power to the PI heating film; A voltage regulator module, the input terminal of which is connected to the battery, is used to output a stable voltage; The MCU main control module, with the input terminal of the voltage regulator module connected to the battery; The temperature acquisition and heating control module is connected to the output terminal of the MCU main control module and the PI heating film, and is used to acquire the temperature data of the PI heating film.

[0013] Optionally, the battery management module includes: A power management chip, wherein the VSS pin of the power management chip is connected to the negative terminal of the battery; The first NMOS field-effect transistor has its source connected to the negative terminal of the battery and its gate connected to the OD pin of the power management chip. The second NMOS field-effect transistor has its source grounded, its drain connected to the drain of the first NMOS field-effect transistor, and its gate connected to the OC pin of the power management chip. A detection sampling resistor is provided, one end of which is connected to the CSI pin of the power management chip, and the other end of which is connected to the drain of the second NMOS field-effect transistor. A first filter resistor, one end of which is connected to the positive terminal of the battery, and the other end of which is connected to the VDD pin of the power management chip. A first filter capacitor, one end of which is connected to the other end of the first filter resistor, and the other end of which is connected to the negative terminal of the battery; The battery power display module includes: A first decoupling capacitor, one end of which is connected to the positive terminal of the battery, and the other end of which is grounded; The first voltage divider resistor, one end of which is connected to one end of the first decoupling capacitor; The second voltage divider resistor has one end connected to one end of the first voltage divider resistor; A first current-limiting resistor, one end of which is connected to the other end of the first decoupling capacitor, and the other end of which is connected to the other end of the first voltage divider resistor; The first rectifier diode has its anode connected to the other end of the second voltage divider resistor, and its cathode connected to one end of the first current limiting resistor. A voltage comparator, wherein the non-inverting input terminal of the voltage comparator is connected to the other end of the first voltage divider resistor, and the inverting input terminal of the voltage comparator is connected to the other end of the second voltage divider resistor; A first pull-up resistor, one end of which is connected to one end of the second voltage divider resistor, and the other end of which is connected to the output terminal of the voltage comparator; The first LED indicator is connected at one end to one end of the first pull-up resistor. A second current-limiting resistor, one end of which is connected to the other end of the first LED indicator, and the other end of which is connected to the output terminal of the voltage comparator; A third current-limiting resistor, one end of which is connected to the other end of the second current-limiting resistor; The second LED indicator has one end connected to the other end of the first decoupling capacitor, and the other end of the second LED indicator is connected to the other end of the third current-limiting resistor. The battery boost module includes: A boost converter chip, wherein the VIN and EN pins of the boost converter chip are connected to the positive terminal of the battery, and the GND pin of the boost converter chip is grounded; The second filter capacitor has one end connected to the positive terminal of the battery and the other end grounded. A third filter capacitor, one end of which is connected to one end of the second filter capacitor, and the other end of which is connected to the other end of the second filter capacitor; The first inductor has one end connected to one end of the third filter capacitor, and the other end of the first inductor is connected to the SW pin of the boost chip. The first Schottky diode, the anode of which is connected to the other end of the first inductor; The third voltage divider resistor has one end connected to the negative terminal of the first Schottky diode and the other end connected to the FB pin of the boost chip. A fourth voltage divider resistor, one end of which is connected to the other end of the third voltage divider resistor, and the other end of which is grounded; The fourth filter capacitor has one end connected to one end of the third voltage divider resistor and the other end grounded. A fifth filter capacitor, one end of which is connected to one end of the fourth filter capacitor, and the other end of which is connected to the other end of the fourth filter capacitor; A fourth current-limiting resistor, one end of which is connected to the OC pin of the boost chip, and the other end of which is grounded; The voltage regulator module includes: A sixth filter capacitor, one end of which is connected to the positive terminal of the battery, and the other end of which is grounded; A voltage regulator chip, wherein the VIN pin of the voltage regulator chip is connected to one end of the sixth filter capacitor, the GND pin of the voltage regulator chip is connected to the other end of the sixth filter capacitor, and the first VOUT pin of the voltage regulator chip is connected to the second VOUT pin of the voltage regulator chip; The seventh filter capacitor has one end connected to the second VOUT pin of the voltage regulator chip, and the other end grounded. The MCU main control module includes: The main control chip has its VSSA, VSS_1, VSS_2 and VSS_3 pins grounded, and its VBAT pin is connected to one end of the seventh filter capacitor. The first pull-down resistor has one end grounded and the other end connected to the PB2 pin of the main control chip. The second pull-down resistor has one end connected to the BOOT0 pin of the main control chip and the other end grounded. The first crystal oscillator has one end connected to the PC14-OSC32_IN pin of the main control chip, and the other end connected to the PC15-OSC32_OUT pin of the main control chip. The first load capacitor has one end connected to one end of the first crystal oscillator and the other end grounded. A second load capacitor, one end of which is connected to the other end of the first crystal oscillator, and the other end of which is connected to the other end of the first load capacitor; The programming interface has pin 1 connected to the VDD_2 pin of the main control chip, pin 2 connected to the PA14 pin of the main control chip, pin 3 connected to the PA13 pin of the main control chip, and pin 4 connected to the VSS_2 pin of the main control chip. The second crystal oscillator has one end connected to the PD1-OSC_OUT pin of the main control chip, and the other end connected to the PD0-OSC_IN pin of the main control chip. The third load capacitor has one end connected to one end of the second crystal oscillator and the other end grounded. A fourth load capacitor, one end of which is connected to the other end of the second crystal oscillator, and the other end of which is connected to the other end of the third load capacitor; A matching resistor, one end of which is connected to one end of the second crystal oscillator, and the other end of which is connected to the other end of the second crystal oscillator; The second pull-up resistor has one end connected to the VDDA pin of the main control chip and the other end connected to the NRST pin of the main control chip. A first switch, one end of which is connected to the other end of the second pull-up resistor, and the other end of the first switch is grounded; An eighth filter capacitor, one end of which is connected to one end of the first switch, and the other end of which is connected to the other end of the first switch; The ninth filter capacitor has one end connected to the VDDA pin of the main control chip and the other end connected to ground. The tenth filter capacitor has one end connected to the VDD_1 pin of the main control chip and the other end connected to the other end of the ninth filter capacitor. The eleventh filter capacitor has one end connected to the VDD_2 pin of the main control chip and the other end connected to the other end of the ninth filter capacitor. The twelfth filter capacitor has one end connected to the VDD_3 pin of the main control chip and the other end connected to the other end of the ninth filter capacitor. The temperature acquisition and heating temperature control module includes: The third pull-up resistor has one end connected to the PA0-WKUP pin of the main control chip and the other end connected to the VDDA pin of the main control chip. A digital temperature sensor, wherein the VDD pin of the digital temperature sensor is connected to the other end of the third pull-up resistor, the DQ pin of the digital temperature sensor is connected to one end of the third pull-up resistor, and the GND pin of the digital temperature sensor is grounded. The second Schottky diode has its cathode connected to the other end of the fifth filter capacitor and to one end of the PI heating film, while its anode is connected to the other end of the PI heating film. A fuse, one end of which is connected to the other end of the second Schottky diode; The third NMOS field-effect transistor, the drain of which is connected to the other end of the fuse, and the source of which is grounded; A gate drive resistor, one end of which is connected to the PA8 pin of the main control chip, and the other end of which is connected to the gate of the third NMOS field-effect transistor. The third pull-down resistor has one end connected to the other end of the gate drive resistor and the other end connected to the source of the third NMOS field-effect transistor.

[0014] Through the above technical solutions, this invention provides a control method for a drone de-icing propeller and a drone itself. It employs an integrated molding process of a PI heating film and a CFRP blade body, achieving efficient heat conduction while ensuring structural strength and aerodynamic shape. By determining a specific heating coverage area at the blade leading edge, the required heating power is accurately calculated, and dedicated battery parameters and integrated circuits are designed to ensure precise matching of battery supply on demand, achieving temperature control and power supply protection for the PI heating film. This invention simplifies the structure, reduces weight and the complexity of rotating power supply, while improving the uniformity of blade heating, achieving precise prevention and rapid removal of icing, minimizing the impact on blade dynamic balance and aerodynamic performance, and balancing flight stability, endurance, and feasibility for mass application. Furthermore, this invention is effectively adaptable to small aircraft such as drones, ensuring long-term stable and reliable operation of the de-icing system, and possesses advantages such as low cost and strong low-temperature adaptability, meeting the needs of engineering-scale mass implementation.

[0015] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of a control method according to an embodiment of the present invention; Figure 2 This is a flowchart of constructing a geometric model according to one embodiment of the present invention; Figure 3 This is a flowchart of obtaining the heating area according to one embodiment of the present invention; Figure 4 This is a flowchart for determining the required heating power according to one embodiment of the present invention; Figure 5 This is a flowchart for determining battery executable parameters according to one embodiment of the present invention; Figure 6 This is a schematic diagram of a propeller according to one embodiment of the present invention; Figure 7 This is a cross-sectional view of a propeller according to one embodiment of the present invention; Figure 8 This is a circuit diagram of a battery management module according to an embodiment of the present invention; Figure 9 This is a circuit diagram of a battery power display module according to an embodiment of the present invention; Figure 10 This is a circuit diagram of a battery boost module according to an embodiment of the present invention; Figure 11 This is a circuit diagram of a portion of the circuit according to one embodiment of the present invention; Figure 12 This is a circuit diagram of a portion of the circuit according to one embodiment of the present invention; Figure 13 This is a circuit diagram of a temperature acquisition and heating control module according to one embodiment of the present invention.

[0017] Explanation of reference numerals in the attached figures Detailed Implementation

[0018] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0019] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0020] Figure 1 This is a flowchart of a control method according to an embodiment of the present invention, in which the control method includes: In step S1, the geometric and thermophysical parameters of the UAV de-icing propeller are obtained. The geometric parameters include... Radial termination radius of PI heating film, Radial starting radius of PI heating film, The thermophysical parameters include the aerodynamic convection heat transfer coefficient, the thermal conductivity of the CFRP blade body, the blade leading edge thickness, the ambient temperature, the critical temperature difference for de-icing, and the critical power density for basic de-icing.

[0021] In step S2, a geometric model of the heating area of ​​the heating film is constructed based on Romberg.

[0022] In step S3, the heating area of ​​the heating film is calculated based on the geometric parameters and geometric model.

[0023] In step S4, the required heating power is determined based on the heating area and thermophysical parameters of the heating film.

[0024] In step S5, executable parameters are determined based on the required heating power to draw power from the battery.

[0025] In steps S1 to S5, a complete quantitative process from heating requirements to battery supply was established based on the precise geometry and physical characteristics of the propeller. First, a high-precision geometric model of the heating film conforming to the propeller surface was constructed using the Romberg method, ensuring a precise match between the heating area and heat flux distribution. This prevents energy waste or localized de-icing failures caused by mismatched heating areas. Based on the required heating power determined by this precise area and thermophysical parameters, the battery's executable parameters were then derived from this precise power requirement, ensuring a precise match between battery supply and demand. This approach, while ensuring de-icing reliability, minimized system weight, optimized battery configuration, and extended effective flight time.

[0026] In this embodiment, the method for constructing the geometric model can be one of several known to those skilled in the art. In one example of the present invention, the method for constructing the geometric model can be... Figure 2 The method shown is illustrated. Figure 2 In addition, the method also includes: Let the total radius of the blade be... (Unit: mm), propeller root chord length ( (Unit: mm) Propeller tip chord length ( (Unit: mm), according to formula (11) and the assumption of linear decrease, the chord length increases with the radius. The distribution function, (11) Simplified propeller tip chord In step S21, the radial chord length distribution function of the blade is determined according to formula (1). (1) Take the radial micro-element segment of the blade (Unit: mm), the blade chord length of this micro-element segment is chordal heating width , Given the chordal heating ratio, the heating area of ​​a single-sided blade element is determined in step S22 according to formula (2). (2) Let the basic integral be Its integration interval .

[0027] interval Successive bisections, number of bisections The recursive formula for the composite trapezoidal value is: (12) (13) in, For the initial composite trapezoidal values, This is the initial integration step size.

[0028] In step S23, the integration interval is bisected according to formulas (3) to (4) to obtain the complex trapezoidal value. (3) (4) in, Let be the radial chord length distribution function of the blade. The total radius of the blades, For the root chord length of the propeller blade, The heating area of ​​a single-sided PI heating film. For any radial position of the blade, The radial termination radius of the PI heating film. The radial starting radius of the PI heating film. For chordal heating ratio, To divide the interval into equal parts The complex trapezoidal value after division, To divide the interval into equal parts The complex trapezoidal value after division, For the first The step size of the integral after the second binary search. Let be the index of the infinitesimal element within the integration interval. Let be the degree of bisection of the integration interval. This is the lower limit of the integration interval. This represents the upper limit of the integration interval. For nonlinear chord lengths in actual molding processes, such as quadratic / cubic curves and measured discrete chord length data, a continuous chord length function can be obtained through cubic spline interpolation, which can then be directly substituted into the subsequent Romberg quadrature method for calculation.

[0029] In step S24, the heating area of ​​the heating film is obtained based on the Romberg method. Specifically, the steps for obtaining the heating area are as follows: Figure 3 As shown, it may include: initial value Calculate in sequence That is, 4th order precision That is, 6th order precision That is, 8th-order precision. In step S241, the Romberg value is generated based on Richardson extrapolation according to formula (5). (5) in, For the first Second extrapolation, the first The Romberg integral value after the second binary division. For the first Second extrapolation, the first The Romberg integral value after the second binary division. For Richardson's extrapolation count; In step S242, the difference between the current extrapolated Romberg value and the previous extrapolated Romberg value is calculated.

[0030] In step S243, it is determined whether the difference is less than a first preset threshold. If the difference is less than the first preset threshold, step S244 is executed; otherwise, the next extrapolation is performed.

[0031] In step S244, the heating area of ​​the heating film is determined based on the currently extrapolated Romberg value.

[0032] In steps S21 to S24, recursive extrapolation significantly accelerates the integration convergence process, greatly improving efficiency while maintaining computational accuracy. When the Romberg values ​​of two consecutive extrapolations satisfy... ( mm²), take Basic integrals The final value.

[0033] Furthermore, after obtaining the heating area, the required heating power of the heating film is determined based on this area. Specifically, such as... Figure 4 As shown, it includes: For radial infinitesimal segments Micro-element heating power of the heating film The following conditions must be met: The required heating power of the micro-element = the de-icing power of the micro-element + the convective heat loss power of the micro-element + the heat conduction loss power of the micro-element itself, that is: (14) (15) (16) (17) in, The area of ​​the infinitesimal element is expressed in cm². , The heat exchange area is expressed in m². .

[0034] Substituting the infinitesimal power into formula (6), the heating zone... Integrating using the Romberg quadrature method, combined with the number of blades The total heat demand of the entire blade is calculated. The unit is W. In step S41, the required heating power of the heating film is calculated according to formula (6). (6) In step S42, the critical power density for de-icing is calculated according to formula (7). (7) in, The required heating power for the heating film, The number of blades, The aerodynamic convection heat transfer coefficient is... The thermal conductivity of the CFRP blade body is... The thickness of the blade leading edge. This is the heat transfer correction factor. The critical temperature difference for de-icing. Let be the critical power density function for de-icing. For ambient temperature, Based on the critical power density for de-icing, W / cm² (-20℃ operating condition). Commonly used in drone propellers. In this invention, a two-bladed propeller is used. .

[0035] In steps S41 and S42, based on the obtained integration interval and chord length distribution, multiple physical factors such as aerodynamic convection heat transfer, composite material thermal conductivity, and critical de-icing temperature difference are comprehensively integrated. This directly converts the geometric area into physical power requirements, ensuring a complete closed loop in the calculation from structural parameters to functional performance. Simultaneously, a functional relationship with ambient temperature is introduced, enabling the critical de-icing power density to be dynamically adjusted according to external conditions, significantly improving the adaptability and energy efficiency of the power design.

[0036] Furthermore, the heating zone Divided into small intervals ( The area of ​​each subinterval is calculated individually using the Romberg quadrature method. Then allocate the zone heating power according to the following principles. Specifically, this includes: The heating power of each zone is allocated according to formulas (18) to (19). (18) (19) in, For zoned heating power, For the area of ​​the zone, This represents the number of heating intervals. In one example of the present invention, when heat loss is ignored, i.e., under laboratory static de-icing / low-speed operating conditions, the required heating power is calculated according to formula (20). (20) in, This is the critical power density for de-icing.

[0037] In this embodiment, by directly coupling the thermal power requirements of the heating film to the key output parameters of the battery system, an integrated closed-loop design from thermodynamic design to power supply configuration is achieved. Specifically, such as Figure 5 As shown, it includes the following steps: In step S51, the minimum rated voltage of the battery is determined according to formula (8). (8) in, This is the minimum rated voltage of the battery. This is the battery's maximum output current. For circuit transmission efficiency, This refers to the effective heat utilization rate of the heating film.

[0038] In step S52, the required current value of the battery is determined according to formula (9). (9) Where I is the current required by the battery. For a given battery voltage In step S53, the minimum rated capacitance of the battery is determined according to formula (10). (10) in, This is the minimum rated capacitance of the battery. Depth of battery discharge , Heating time is in hours. The unit is Ah.

[0039] In steps S51 to S53, a direct constraint relationship between the heating power and the battery's electrical parameters is established. This transforms the selection of rated voltage or maximum output current from traditional experience-based or margin-based design to a precise derivation based on physical requirements, thereby ensuring a strict match between the power output capacity and the heating load. Furthermore, by introducing the depth of discharge and heating time, the transient power demand is converted into the battery's minimum energy storage capacity, i.e., the rated capacitance, fundamentally guaranteeing the continuity and reliability of power supply during the predetermined de-icing period. This invention, by comprehensively considering practical engineering factors such as circuit transmission efficiency and heating film thermal utilization rate, significantly improves the feasibility and energy efficiency optimization of system-level design, providing a quantitative theoretical basis for battery selection and circuit board design, and realizing the coordinated design and global optimization of the three major parameters of heat, electricity, and energy.

[0040] Furthermore, the control method also includes acquiring the key state parameters of the current battery and comparing the executable parameters with the key state parameters to determine the executability of the UAV. Even if a battery is selected based on the precisely calculated executable parameters, the battery is a dynamic variable whose state decays in real-time and is profoundly affected by the environment. The executability determines whether the actual capability of the working battery under current conditions still meets the theoretical mission requirements. This solves the gap between the ideal model and real-world wear and tear, a common problem in engineering design, and effectively avoids the risk of unforeseen power outages or insufficient power during missions caused by uncertainties such as battery aging, insufficient charge, and low-temperature performance degradation.

[0041] On the other hand, the present invention also provides a drone, which includes a drone body, a de-icing propeller, and a controller. The drone includes a drone body, a de-icing propeller, and a controller. The de-icing propeller is connected to the drone body, and the controller is connected to the de-icing propeller for executing any of the control methods described above. Further, as... Figure 6 and Figure 7As shown, the propeller includes a blade body 1, a PI heating film 2, a hub 3, a drive assembly 4, and a rotary power supply assembly 5. The PI heating film 2 is located at the leading edge of the blade body 1, and its outer surface is coated with a heat-reducing coating. The hub 3 is connected to the center of the blade body 1. The drive assembly 4 is located at the bottom of the hub 3 and drives the blade body 1 to rotate. The rotary power supply assembly 5 is located at the top of the hub 3 and is electrically connected to the PI heating film 2 to heat it. The blade body 1 has internal leads made of 0.5mm² low-temperature resistant silicone wire with a temperature range of -40℃ to 120℃. The positive and negative leads are arranged along pre-designed wiring channels and fixed by external epoxy resin encapsulation. After the wires converge at the side of the hub 3, they are led out using a PH2.0 2P aviation connector to ensure the reliability and insulation of the lead connection. The propeller hub 3 assembly is made of 7075 aluminum alloy and is CNC machined. Its top has two M3 threaded holes spaced 30mm apart for securing the rotary power supply assembly 5. The overall structure has no external protrusions, effectively ensuring the aerodynamic integrity of the propeller blades while improving heat transfer efficiency and structural reliability.

[0042] The PI heating film 2 is tightly bonded to the CFRP blade body 1 using a high-temperature resistant adhesive, or it is pre-embedded between the surface CFRP fibers during blade molding. Both fixing methods ensure structural stability and heat transfer efficiency, preventing the heating film from detaching or excessive heat loss. Embedding the PI heating film 2 inside the CFRP blade body 1 results in high integration and a stable connection, allowing it to withstand long-term high-speed operation at 3000 rpm, with a service life of no less than 500 de-icing cycles. Its impact resistance and corrosion resistance meet the requirements for outdoor low-temperature operations at -20℃ and above. Furthermore, the integrated design reduces the assembly of independent components, with each blade weighing no more than 120g, significantly reducing propeller weight. Simultaneously, the high thermal conductivity coating forms a smooth aerodynamic surface with the blade body 1, resulting in a drag coefficient no more than 8% different from ordinary CFRP blades without de-icing function, ensuring the drone's flight stability and endurance, and adapting to the long-term high-speed operating conditions required for the blade.

[0043] In this embodiment, the present invention uses a rotating power supply component 5 for power supply, avoiding power supply failures caused by poor slip ring contact. Simultaneously, the battery arrangement balances power redundancy and dynamic equilibrium, adapting to UAV propellers with different rotation directions (CW / CCW), and can meet the low-temperature de-icing requirements of various models of medium and large multi-rotor UAVs. A single flight can meet heating requirements for more than 40 minutes, exceeding the preset half-hour endurance requirement. The specific structure of the rotating power supply component 5 can be various that are known to those skilled in the art. In one example of the present invention, the rotating power supply component 5 includes a circuit board base 6, a circuit board 7, a battery holder 8, a battery, and a shroud 9. The circuit board base 6 is connected to the top of the propeller hub 3, the circuit board 7 is disposed within the circuit board base 6, the battery holder 8 is disposed above the circuit board 7 and connected to the circuit board 7, the battery is disposed within the battery holder 8 and electrically connected to the circuit board 7, and the shroud 9 is disposed outside the battery and connected to the circuit board base 6.

[0044] Furthermore, in this embodiment, the circuit board 7 integrates a battery management module, a battery power display module, a voltage regulator module, a battery boost module, an MCU main control module, and a temperature acquisition and heating control module. The battery management module is connected to the battery and is used to detect the battery voltage and charging / discharging current. The battery power display module is connected to the battery and is used to detect and display the battery power. The input terminal of the voltage regulator module is connected to the battery and is used to output a stable voltage. The input terminal of the battery boost module is connected to the battery, and the output terminal of the battery boost module is connected to the PI heating film 2 to boost the voltage and supply power to the PI heating film. The MCU main control module is connected to the output terminal of the voltage regulator module, and the temperature acquisition and heating control module is connected to the output terminal of the MCU main control module and the PI heating film 2 to acquire temperature data from the PI heating film. This invention not only realizes single-threshold undervoltage detection and status visualization of lithium batteries, which can fully meet the requirements of low power consumption and low cost power status indication, but also realizes dual protection against short circuit and overload. It can accurately adjust the heating power through PWM signal, and adapt to the working requirements of 3.9V low voltage power supply system and blade leading edge de-icing, ensuring that the PI heating film 2 works stably and reliably, and extending the service life of the device.

[0045] The PI heating film 2 is arranged along a pre-designed wiring channel via low-temperature resistant silicone wires embedded in the CFRP blade body 1. After the wires converge at the blade root, they are reliably plugged in and out via a PH2.0 2P aviation connector on the side of the rotor hub 3. Power is led from the connector through internal wiring to the power supply control component at the top of the rotor hub 3. The battery boost module in this component boosts the battery voltage and then directly supplies power to the PI heating film 2 through this path. Since the entire integrated circuit board 7 rotates synchronously with the blade, electrical energy is directly transferred from the fixed UAV fuselage to the rotating heating film through the rotating rotor hub 3, without any sliding contact parts. This fundamentally eliminates poor contact, electrical noise, and maintenance requirements caused by mechanical wear, achieving highly reliable, maintenance-free rotary power supply.

[0046] This invention achieves temperature control and power supply protection for the PI heating film 2 by accurately calculating the required heating power and designing dedicated battery parameters and integrated circuit board 7 to determine the specific heating coverage area of ​​the blade leading edge. While simplifying the structure, reducing weight and the complexity of rotating power supply, this invention improves the uniformity of blade heating, enables precise prevention and rapid removal of icing, minimizes the impact on blade dynamic balance and aerodynamic performance, and balances flight stability, endurance, and feasibility for mass application. Furthermore, this invention is effectively adaptable to small aircraft such as UAVs, ensuring long-term stable and reliable operation of the de-icing system. It also boasts advantages such as easy installation, strong adaptability, low cost, and strong low-temperature adaptability, meeting the needs of engineering-scale mass implementation.

[0047] When the drone operates in icing environments at -20℃ and above, the centrifugal force trigger switch of the power supply control module automatically turns on when the propeller speed reaches 500 rpm, and enters the icing prevention mode. The temperature sensor of the temperature acquisition and heating control module monitors the propeller surface temperature in real time. When the detected temperature is below 5℃, the PI heating film 2 operates at 70% of its rated power to maintain the propeller surface temperature between 5 and 10℃, effectively preventing water vapor from condensing on the propeller surface. When the detected propeller surface temperature is below 0℃ for 5 seconds, it is determined that the propeller is iced, and the system switches to de-icing mode. The PI heating film 2 operates at its rated power to quickly melt the ice on the propeller surface. When the propeller surface temperature rises back to 10℃, it is maintained at this temperature for 3 minutes to ensure that the ice is completely removed, and then the system returns to the icing prevention mode. When the battery pack voltage is below 3.0V, the module's red light illuminates, prompting staff to replace the battery. When the propeller speed is below 500rpm, the centrifugal force trigger switch automatically disconnects, and the power supply system stops working to avoid unnecessary power consumption and ensure battery endurance. A single flight can meet the heating requirements for more than 40 minutes, exceeding the preset half-hour endurance requirement.

[0048] The PI heating film is arranged in zones and combined with a high thermal conductivity coating to ensure that the temperature deviation at the leading edge of the blade is no more than 4°C. It can quickly remove ice in environments of -20°C and above. In the ice prevention mode, it can stably maintain a surface temperature of 5-10°C, effectively preventing water vapor condensation. It is compatible with preset heating area design and power density configuration to meet the requirements of low temperature anti-icing and de-icing, and significantly improves de-icing efficiency and uniformity.

[0049] In this embodiment, the specific circuitry for the battery management module can be of various types known to those skilled in the art. In one example of the present invention, such as... Figure 8 As shown, the battery management module includes a power management chip U1, a first NMOS field-effect transistor Q1, a second NMOS field-effect transistor Q2, a detection sampling resistor R1, a first filter resistor R2, and a first filter capacitor C1. The VSS pin of the power management chip U1 is connected to the negative terminal of the battery. The source of the first NMOS field-effect transistor Q1 is connected to the negative terminal of the battery, and the gate of the first NMOS field-effect transistor Q1 is connected to the OD pin of the power management chip U1. The source of the second NMOS field-effect transistor Q2 is grounded, the drain of the second NMOS field-effect transistor Q2 is connected to the drain of the first NMOS field-effect transistor Q1, and the gate of the second NMOS field-effect transistor Q2 is connected to the OC pin of the power management chip U1. One end of the detection sampling resistor R1 is connected to the CSI pin of the power management chip U1, and the other end of the detection sampling resistor R1 is connected to the drain of the second NMOS field-effect transistor Q2. One end of the first filter resistor R2 is connected to the positive terminal of the battery, and the other end of the first filter resistor R2 is connected to the VDD pin of the power management chip U1. One end of the first filter capacitor C1 is connected to the other end of the first filter resistor R2, and the other end of the first filter capacitor C1 is connected to the negative terminal of the battery.

[0050] The battery management unit (BMU) plays a crucial role in protecting a single lithium battery from overcharge, over-discharge, overcurrent, and short circuit. The detection sampling resistor R1, the first NMOS MOSFET Q1 for discharge control, and the second NMOS MOSFET Q2 for charging control provide fault protection and on / off control for the charging and discharging circuits. The first filter resistor R2 and the first filter capacitor C1 ensure power stability and interference immunity for the IC. When the power management chip U1 detects that the battery voltage reaches the overcharge detection threshold of 4.28V, the over-discharge detection threshold of 2.4V, or the CSI pin voltage reaches the overcurrent detection threshold of 0.15V, or the short-circuit current detection threshold of 1.3V, it will trigger corresponding protection actions. The detection sampling resistor R1 controls whether the power management chip U1 triggers overcurrent and short-circuit protection. When overcharge occurs, the OC pin of the power management chip U1 outputs a low level, causing the second NMOS MOSFET Q2 for charging control to turn off, thus disconnecting the charging circuit. When over-discharge, overcurrent, or short circuit occurs, the OD pin of the power management chip U1 outputs a low level, causing the first NMOS MOSFET Q1 for discharging control to turn off, thus disconnecting the discharging circuit. When operating normally, the battery voltage is between 2.4V and 4.28V and the circuit current is normal. The OC and OD pins of the power management chip U1 both output high levels, and the first NMOS field-effect transistor Q1 and the second NMOS field-effect transistor Q2 remain on. At this time, the charging and discharging circuits are normal and unobstructed, and the lithium battery can be charged and discharged normally.

[0051] like Figure 9As shown, the battery power display module includes a first decoupling capacitor C2, a first voltage divider resistor R3, a second voltage divider resistor R4, a first current-limiting resistor R5, a first rectifier diode D1, a voltage comparator U2.1, a first pull-up resistor R6, a first LED indicator LED1, a second current-limiting resistor R7, a third current-limiting resistor R8, and a second LED indicator LED2. One end of the first decoupling capacitor C2 is connected to the positive terminal of the battery, and the other end is grounded. One end of the first voltage divider resistor R3 is connected to one end of the first decoupling capacitor C2, and one end of the second voltage divider resistor R4 is connected to one end of the first voltage divider resistor R3. One end of the first current-limiting resistor R5 is connected to the other end of the first decoupling capacitor C2, and the other end of the first current-limiting resistor R5 is connected to the other end of the first voltage divider resistor R3. The positive terminal of the first rectifier diode D1 is connected to the other end of the second voltage divider resistor R4, and the negative terminal of the first rectifier diode D1 is connected to one end of the first current-limiting resistor R5. The non-inverting input of voltage comparator U2.1 is connected to the other end of the first voltage divider resistor R3, and the inverting input of voltage comparator U2.1 is connected to the other end of the second voltage divider resistor R4. One end of the first pull-up resistor R6 is connected to one end of the second voltage divider resistor R4, and the other end of the first pull-up resistor R6 is connected to the output of voltage comparator U2.1. One end of the first LED indicator LED1 is connected to one end of the first pull-up resistor R6, one end of the second current-limiting resistor R7 is connected to the other end of the first LED indicator LED1, and the other end of the second current-limiting resistor R7 is connected to the output of voltage comparator U2.1. One end of the third current-limiting resistor R8 is connected to the other end of the second current-limiting resistor R7, one end of the second LED indicator LED2 is connected to the other end of the first decoupling capacitor C2, and the other end of the second LED indicator LED2 is connected to the other end of the third current-limiting resistor R8.

[0052] This invention relates to a single-cell lithium battery power status indicator circuit built based on the LM393ADR dual voltage comparator. Its core function is to visually indicate the lithium battery status by switching the on / off state of the first LED indicator (LED1, green) and the second LED indicator (LED2, red): the green light is on and the red light is off when the battery is fully charged; the red light is on and the green light is off when the battery is low on. The core control unit is the voltage comparator U2.1 (the working channel of the LM393ADR), which switches the output level by comparing the voltage magnitudes at the non-inverting and inverting input terminals. VCC_BAT and GND are the positive and negative input ports of the lithium battery. The 100nF power supply decoupling capacitor C2 filters out high-frequency interference from the power supply, stabilizes the power supply to the voltage comparator, and prevents false triggering. The first voltage divider resistor R3 and the second voltage divider resistor R4 are connected in series to form a voltage divider network, which samples the battery voltage and sends it to the inverting input terminal of the voltage comparator U2.1. The first current-limiting resistor R5, in conjunction with the first Schottky diode D2 (SS34), provides a stable reference voltage of approximately 0.3V to the non-inverting input. R5 limits the diode's operating current. The first pull-up resistor R6 is 10kΩ, compatible with the open-drain output architecture of the LM393. The second and third current-limiting resistors R7 and R8 are the current-limiting resistors for the first LED indicator (LED1) and the second LED indicator (LED2), respectively, preventing damage to the LEDs due to overcurrent. The core logic of the voltage comparator U2.1 is as follows: when the sampled voltage at the inverting input is higher than the reference voltage at the non-inverting input, the output is pulled low; conversely, the output is pulled high. When the battery is fully charged, the sampled voltage is higher than the reference, the voltage comparator U2.1 outputs a low level, LED1 lights up, and LED2 turns off. When the battery is low, the sampled voltage is lower than the reference, the voltage comparator U2.1 outputs a high level, LED1 turns off, and LED2 lights up, providing a clear indication of the battery status.

[0053] like Figure 10As shown, the battery boost module includes a boost chip U3, a second filter capacitor C3, a third filter capacitor C4, a first inductor L, a first Schottky diode D2, a third voltage divider resistor R9, a fourth voltage divider resistor R10, a fourth filter capacitor C5, a fifth filter capacitor C6, and a fourth current-limiting resistor R11. The VIN and EN pins of the boost chip U3 are connected to the positive terminal of the battery, and the GND pin of the boost chip U3 is grounded. One end of the second filter capacitor C3 is connected to the positive terminal of the battery, and the other end is grounded. One end of the third filter capacitor C4 is connected to one end of the second filter capacitor C3, and the other end of the third filter capacitor C4 is connected to the other end of the second filter capacitor C3. One end of the first inductor L is connected to one end of the third filter capacitor C4, and the other end of the first inductor L is connected to the SW pin of the boost chip U3. The anode of the first Schottky diode D2 is connected to the other end of the first inductor L. One end of the third voltage divider resistor R9 is connected to the cathode of the first Schottky diode D2, and the other end of the third voltage divider resistor R9 is connected to the FB pin of the boost chip U3. One end of the fourth voltage divider resistor R10 is connected to the other end of the third voltage divider resistor R9, and the other end of the fourth voltage divider resistor R10 is grounded. One end of the fourth filter capacitor C5 is connected to one end of the third voltage divider resistor R9, and the other end is grounded. One end of the fifth filter capacitor C6 is connected to one end of the fourth filter capacitor C5, and the other end of the fifth filter capacitor C6 is connected to the other end of the fourth filter capacitor C5. One end of the fourth current-limiting resistor R11 is connected to the OC pin of the boost chip U3, and the other end of the fourth current-limiting resistor R11 is grounded.

[0054] The battery boost module consists of an MT3608L boost chip U3, a first inductor L, and a first Schottky diode D2. The lithium battery input VCC_BAT is filtered by the second filter capacitor C3 and the third filter capacitor C4 before being fed into the chip. The chip controls the energy storage and release of the first inductor L, working in conjunction with the first Schottky diode D2 to complete the boost conversion. The output voltage is divided by the third voltage divider resistor R9 and the fourth voltage divider resistor R10 and fed back to the chip for closed-loop voltage regulation. The fourth current-limiting resistor R11 provides a continuous enable signal to the chip. The output is filtered by the fourth filter capacitor C5 and the fifth filter capacitor C6, resulting in a stable 12V DC voltage to power the PI heating film.

[0055] like Figure 12As shown, the voltage regulator module includes a sixth filter capacitor C7, a voltage regulator chip U4, and a seventh filter capacitor C8. One end of the sixth filter capacitor C7 is connected to the positive terminal of the battery, and the other end is grounded. The VIN pin of the voltage regulator chip U4 is connected to one end of the sixth filter capacitor C7, the GND pin of the voltage regulator chip U4 is connected to the other end of the sixth filter capacitor C7, and the first VOUT pin of the voltage regulator chip U4 is connected to the second VOUT pin of the voltage regulator chip U4. One end of the seventh filter capacitor C8 is connected to the second VOUT pin of the voltage regulator chip U4, and the other end is grounded.

[0056] like Figure 11 and Figure 12As shown, the MCU main control module includes a main control chip U5, a first pull-down resistor R12, a second pull-down resistor R13, a first crystal oscillator X1, a first load capacitor C9, a second load capacitor C10, a programming interface J, a second crystal oscillator X2, a third load capacitor C11, a fourth load capacitor C12, a matching resistor R14, a second pull-up resistor R15, a first switch SW1, an eighth filter capacitor C13, a ninth filter capacitor C14, a tenth filter capacitor C15, an eleventh filter capacitor C16, and a twelfth filter capacitor C17. The VSSA, VSS_1, VSS_2, and VSS_3 pins of the main control chip U5 are grounded, and the VBAT pin of the main control chip U5 is connected to one end of the seventh filter capacitor C8. One end of the first pull-down resistor R12 is grounded, and the other end is connected to the PB2 pin of the main control chip U5. One end of the second pull-down resistor R13 is connected to the BOOT0 pin of the main control chip U5, and the other end is grounded. One end of the first crystal oscillator X1 is connected to the PC14-OSC32_IN pin of the main control chip U5, and the other end of the first crystal oscillator X1 is connected to the PC15-OSC32_OUT pin of the main control chip U5. One end of the first load capacitor C9 is connected to one end of the first crystal oscillator X1, and the other end is grounded. One end of the second load capacitor C10 is connected to the other end of the first crystal oscillator X1, and the other end of the second load capacitor C10 is connected to the other end of the first load capacitor C9. Pin 1 of the programming interface J is connected to the VDD_2 pin of the main control chip U5, pin 2 of the programming interface J is connected to the PA14 pin of the main control chip U5, pin 3 of the programming interface J is connected to the PA13 pin of the main control chip U5, and pin 4 of the programming interface J is connected to the VSS_2 pin of the main control chip U5. One end of the second crystal oscillator X2 is connected to the PD1-OSC_OUT pin of the main control chip U5, and the other end of the second crystal oscillator X2 is connected to the PD0-OSC_IN pin of the main control chip U5. One end of the third load capacitor C11 is connected to one end of the second crystal oscillator X2, and the other end is grounded. One end of the fourth load capacitor C12 is connected to the other end of the second crystal oscillator X2, and the other end of the fourth load capacitor C12 is connected to the other end of the third load capacitor C11. One end of the matching resistor R14 is connected to one end of the second crystal oscillator X2, and the other end of the matching resistor R14 is connected to the other end of the second crystal oscillator X2. One end of the second pull-up resistor R15 is connected to the VDDA pin of the main control chip U5, and the other end is connected to the NRST pin of the main control chip U5. One end of the first switch SW1 is connected to the other end of the second pull-up resistor R15, and the other end of the first switch SW1 is grounded. One end of the eighth filter capacitor C13 is connected to one end of the first switch SW1, and the other end of the eighth filter capacitor C13 is connected to the other end of the first switch SW1. One end of the ninth filter capacitor C14 is connected to the VDDA pin of the main control chip U5, and the other end is grounded.One end of the tenth filter capacitor C15 is connected to the VDD_1 pin of the main control chip U5, and the other end is connected to the other end of the ninth filter capacitor C14. One end of the eleventh filter capacitor C16 is connected to the VDD_2 pin of the main control chip U5, and the other end is connected to the other end of the ninth filter capacitor C14. One end of the twelfth filter capacitor C17 is connected to the VDD_3 pin of the main control chip U5, and the other end is connected to the other end of the ninth filter capacitor C14.

[0057] In this implementation, the lithium battery input VCC_BAT is stepped down by the voltage regulator chip U4 (AMS1117-3.3), and with the input sixth filter capacitor C7 and the seventh filter capacitor C8, a stable VCC 3.3V is output to power the entire MCU main control module. A 32.768kHz low-speed first crystal oscillator X1, along with the first load capacitor C9 and the second load capacitor C10, provides a precise timing reference for the RTC real-time clock of the main control chip U5. An 8MHz high-speed second crystal oscillator X2, along with the matching resistor R14, the third load capacitor C11, and the fourth load capacitor C12, provides the core operating clock for the main control chip U5. The PZ254V-11-04P programming interface J enables program download and online debugging. The reset module, composed of the second pull-up resistor R15, the first switch SW1, and the eighth filter capacitor C13, ensures the system can be manually restarted. The BOOT0 pin is configured with a second pull-down resistor R13. The main control chip U5 acquires sensor signals through the ADC interface and outputs multiple PWM signals to control peripheral modules, realizing the logic scheduling and closed-loop control of the entire system.

[0058] like Figure 13As shown, the temperature acquisition and heating temperature control module includes a third pull-up resistor R16, a digital temperature sensor U6, a second Schottky diode D3, a fuse F1, a third NMOS field-effect transistor Q3, a gate drive resistor R17, and a third pull-down resistor R18. One end of the third pull-up resistor R16 is connected to the PA0-WKUP pin of the main control chip U5, and the other end is connected to the VDDA pin of the main control chip U5. The VDD pin of the digital temperature sensor U6 is connected to the other end of the third pull-up resistor R16, the DQ pin of the digital temperature sensor U6 is connected to one end of the third pull-up resistor R16, and the GND pin of the digital temperature sensor U6 is grounded. The cathode of the second Schottky diode D3 is connected to the other end of the fifth filter capacitor C6 and to one end of the PI heating film 2; the anode of the second Schottky diode D3 is connected to the other end of the PI heating film 2. One end of the fuse F1 is connected to the other end of the second Schottky diode D3. The drain of the third NMOS MOSFET Q3 is connected to the other end of fuse F1, and the source of the third NMOS MOSFET Q3 is grounded. One end of the gate drive resistor R17 is connected to pin PA8 of the main control chip U5, and the other end of the gate drive resistor R17 is connected to the gate of the third NMOS MOSFET Q3. One end of the third pull-down resistor R18 is connected to the other end of the gate drive resistor R17, and the other end of the third pull-down resistor R18 is connected to the source of the third NMOS MOSFET Q3.

[0059] The core of the temperature acquisition and heating control module consists of a DS18B20 digital temperature sensor U6, a third NMOS field-effect transistor Q3, and a PI heating film. The digital temperature sensor U6 transmits the acquired temperature data to the MCU main control module via the ADC_TEMP1 through the third pull-up resistor R16. The MCU main control module outputs a PWM1 signal, which controls the on / off state of Q3 via the gate drive resistor R17, adjusting the heating power of the PI heating film. The second Schottky diode D3 provides freewheeling protection for the PI heating film, the fuse F1 provides overcurrent protection for the circuit, and the third pull-down resistor R18 prevents the third NMOS field-effect transistor Q3 from being mis-conducted, ultimately achieving precise constant temperature control.

[0060] Through the above technical solutions, this invention provides a control method for a drone de-icing propeller and a drone itself. It employs an integrated molding process of a PI heating film and a CFRP blade body, achieving efficient heat conduction while ensuring structural strength and aerodynamic shape. By determining a specific heating coverage area at the blade leading edge, the required heating power is accurately calculated, and dedicated battery parameters and integrated circuits are designed to ensure precise matching of battery supply on demand, achieving temperature control and power supply protection for the PI heating film. This invention simplifies the structure, reduces weight and the complexity of rotating power supply, while improving the uniformity of blade heating, achieving precise prevention and rapid removal of icing, minimizing the impact on blade dynamic balance and aerodynamic performance, and balancing flight stability, endurance, and feasibility for mass application. Furthermore, this invention is effectively adaptable to small aircraft such as drones, ensuring long-term stable and reliable operation of the de-icing system, and possesses advantages such as low cost and strong low-temperature adaptability, meeting the needs of engineering-scale mass implementation.

[0061] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0062] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0063] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0064] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0065] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0066] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0067] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0068] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0069] The above are merely embodiments of this application and are not intended to limit the scope 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 the claims of this application.

Claims

1. A control method for a de-icing propeller of a drone, characterized in that, The control method includes: Obtain the geometric and thermophysical parameters of the drone's de-icing propeller; The geometric model of the heating area of ​​the heating film is constructed based on Romberg, including: The radial chord length distribution function of the blade is determined according to formula (1). ，（1） The integration kernel function and integration interval are determined according to formula (2). ，（2） The integral interval is bisected according to formulas (3) to (4) to obtain the complex trapezoidal value. ，（3） ，（4） in, Let be the radial chord length distribution function of the blade. The total radius of the blades, For the root chord length of the propeller blade, The heating area of ​​a single-sided PI heating film. For any radial position of the blade, The radial termination radius of the PI heating film. The radial starting radius of the PI heating film. For chordal heating ratio, To divide the interval into equal parts The complex trapezoidal value after division, To divide the interval into equal parts The complex trapezoidal value after division, For the first The step size of the integral after the second binary search. Let be the index of the infinitesimal element within the integration interval. Let be the degree of bisection of the integration interval. This is the lower limit of the integration interval. This represents the upper limit of the integration interval; The heating area of ​​the heating film is obtained based on the Romberg method; The heating area of ​​the heating film is calculated based on the geometric parameters and geometric model, including: Based on Richardson extrapolation, the Romberg value is generated according to formula (5). ，（5） in, For the first Second extrapolation, the first The Romberg integral value after the second binary division. For the first Second extrapolation, the first The Romberg integral value after the second binary division. This represents the number of Richardson extrapolations; Calculate the difference between the current extrapolated Romberg value and the previous extrapolated Romberg value; Determine whether the difference is less than a first preset threshold; If the difference is less than the first preset threshold, the heating area of ​​the heating film is determined based on the currently extrapolated Romberg value. The required heating power is determined based on the heating area and thermophysical parameters of the heating film; Based on the required heating power, the executable parameters are determined to draw power from the battery.

2. The control method according to claim 1, characterized in that, The required heating power is determined based on the heating area and thermophysical parameters of the heating film, including: The required heating power of the heating film is calculated according to formula (6). ，（6） The critical power density for de-icing is calculated according to formula (7). ，（7） in, The required heating power for the heating film, The number of blades, The aerodynamic convection heat transfer coefficient is... The thermal conductivity of the CFRP blade body is... The thickness of the blade leading edge. This is the heat transfer correction factor. The critical temperature difference for de-icing. Let be the critical power density function for de-icing. For ambient temperature, Based on the critical power density for de-icing.

3. The control method according to claim 2, characterized in that, Determine the execution parameters to draw power from the battery based on the required heating power, including: The minimum rated voltage of the battery is determined according to formula (8). ，（8） in, This is the minimum rated voltage of the battery. This is the battery's maximum output current. For circuit transmission efficiency, To improve the effective heat utilization rate of the heating film; Determine the required current value for the battery according to formula (9). ，（9） in, This is the current value required by the battery. Given the battery voltage; The minimum rated capacitance of the battery is determined according to formula (10). ，（10） in, This is the minimum rated capacitance of the battery. Depth of battery discharge, This refers to the heating time.

4. The control method according to claim 3, characterized in that, The control method further includes: Obtain the key state parameters of the current battery; The executable parameters are compared with the key state parameters to determine the executability of the UAV.

5. A drone, characterized in that, The drone includes: The drone itself; A de-icing propeller, connected to the drone body, comprises: propeller blade body; A PI heating film is disposed on the leading edge of the blade body, and a thermal coating is disposed on the outer surface of the PI heating film. The hub is connected to the center of the blade body; A drive assembly, located at the bottom of the propeller hub, is used to drive the propeller body to rotate; A rotary power supply assembly is disposed on the top of the propeller hub and electrically connected to the PI heating film for heating the PI heating film; A controller, connected to the de-icing propeller, is used to perform the control method as described in any one of claims 1 to 4.

6. The UAV according to claim 5, characterized in that, The rotary power supply assembly includes: A circuit board mount is connected to the top of the propeller hub; A circuit board is disposed within the circuit board holder; A battery holder is disposed above the circuit board and connected to the circuit board; The battery is disposed within the battery holder and is electrically connected to the circuit board; A drain cover is disposed outside the battery and connected to the circuit board base.

7. The UAV according to claim 6, characterized in that, The circuit board integrates: A battery management module, connected to the battery, is used to detect the battery's voltage and charging / discharging current; A battery power display module, connected to the battery, is used to detect and display the battery power. A battery boost module, wherein the input terminal of the battery boost module is connected to the battery and the output terminal of the battery boost module is connected to the PI heating film, for boosting voltage and supplying power to the PI heating film; A voltage regulator module, the input terminal of which is connected to the battery, is used to output a stable voltage; The MCU main control module, with the input terminal of the voltage regulator module connected to the battery; The temperature acquisition and heating control module is connected to the output terminal of the MCU main control module and the PI heating film, and is used to acquire the temperature data of the PI heating film.

8. The UAV according to claim 7, characterized in that, The battery management module includes: A power management chip, wherein the VSS pin of the power management chip is connected to the negative terminal of the battery; The first NMOS field-effect transistor has its source connected to the negative terminal of the battery and its gate connected to the OD pin of the power management chip. The second NMOS field-effect transistor has its source grounded, its drain connected to the drain of the first NMOS field-effect transistor, and its gate connected to the OC pin of the power management chip. A detection sampling resistor is provided, one end of which is connected to the CSI pin of the power management chip, and the other end of which is connected to the drain of the second NMOS field-effect transistor. A first filter resistor, one end of which is connected to the positive terminal of the battery, and the other end of which is connected to the VDD pin of the power management chip. A first filter capacitor, one end of which is connected to the other end of the first filter resistor, and the other end of which is connected to the negative terminal of the battery; The battery power display module includes: A first decoupling capacitor, one end of which is connected to the positive terminal of the battery, and the other end of which is grounded; The first voltage divider resistor, one end of which is connected to one end of the first decoupling capacitor; The second voltage divider resistor has one end connected to one end of the first voltage divider resistor; A first current-limiting resistor, one end of which is connected to the other end of the first decoupling capacitor, and the other end of which is connected to the other end of the first voltage divider resistor; The first rectifier diode has its anode connected to the other end of the second voltage divider resistor, and its cathode connected to one end of the first current limiting resistor. A voltage comparator, wherein the non-inverting input terminal of the voltage comparator is connected to the other end of the first voltage divider resistor, and the inverting input terminal of the voltage comparator is connected to the other end of the second voltage divider resistor; A first pull-up resistor, one end of which is connected to one end of the second voltage divider resistor, and the other end of which is connected to the output terminal of the voltage comparator; The first LED indicator is connected at one end to one end of the first pull-up resistor. A second current-limiting resistor, one end of which is connected to the other end of the first LED indicator, and the other end of which is connected to the output terminal of the voltage comparator; A third current-limiting resistor, one end of which is connected to the other end of the second current-limiting resistor; The second LED indicator has one end connected to the other end of the first decoupling capacitor, and the other end of the second LED indicator is connected to the other end of the third current-limiting resistor. The battery boost module includes: A boost converter chip, wherein the VIN and EN pins of the boost converter chip are connected to the positive terminal of the battery, and the GND pin of the boost converter chip is grounded; The second filter capacitor has one end connected to the positive terminal of the battery and the other end grounded. A third filter capacitor, one end of which is connected to one end of the second filter capacitor, and the other end of which is connected to the other end of the second filter capacitor; The first inductor has one end connected to one end of the third filter capacitor, and the other end of the first inductor is connected to the SW pin of the boost chip. The first Schottky diode, the anode of which is connected to the other end of the first inductor; The third voltage divider resistor has one end connected to the negative terminal of the first Schottky diode and the other end connected to the FB pin of the boost chip. A fourth voltage divider resistor, one end of which is connected to the other end of the third voltage divider resistor, and the other end of which is grounded; The fourth filter capacitor has one end connected to one end of the third voltage divider resistor and the other end grounded. A fifth filter capacitor, one end of which is connected to one end of the fourth filter capacitor, and the other end of which is connected to the other end of the fourth filter capacitor; A fourth current-limiting resistor, one end of which is connected to the OC pin of the boost chip, and the other end of which is grounded; The voltage regulator module includes: A sixth filter capacitor, one end of which is connected to the positive terminal of the battery, and the other end of which is grounded; A voltage regulator chip, wherein the VIN pin of the voltage regulator chip is connected to one end of the sixth filter capacitor, the GND pin of the voltage regulator chip is connected to the other end of the sixth filter capacitor, and the first VOUT pin of the voltage regulator chip is connected to the second VOUT pin of the voltage regulator chip; The seventh filter capacitor has one end connected to the second VOUT pin of the voltage regulator chip, and the other end grounded. The MCU main control module includes: The main control chip has its VSSA, VSS_1, VSS_2 and VSS_3 pins grounded, and its VBAT pin is connected to one end of the seventh filter capacitor. The first pull-down resistor has one end grounded and the other end connected to the PB2 pin of the main control chip. The second pull-down resistor has one end connected to the BOOT0 pin of the main control chip and the other end grounded. The first crystal oscillator has one end connected to the PC14-OSC32_IN pin of the main control chip, and the other end connected to the PC15-OSC32_OUT pin of the main control chip. The first load capacitor has one end connected to one end of the first crystal oscillator and the other end grounded. A second load capacitor, one end of which is connected to the other end of the first crystal oscillator, and the other end of which is connected to the other end of the first load capacitor; The programming interface has pin 1 connected to the VDD_2 pin of the main control chip, pin 2 connected to the PA14 pin of the main control chip, pin 3 connected to the PA13 pin of the main control chip, and pin 4 connected to the VSS_2 pin of the main control chip. The second crystal oscillator has one end connected to the PD1-OSC_OUT pin of the main control chip, and the other end connected to the PD0-OSC_IN pin of the main control chip. The third load capacitor has one end connected to one end of the second crystal oscillator and the other end grounded. A fourth load capacitor, one end of which is connected to the other end of the second crystal oscillator, and the other end of which is connected to the other end of the third load capacitor; A matching resistor, one end of which is connected to one end of the second crystal oscillator, and the other end of which is connected to the other end of the second crystal oscillator; The second pull-up resistor has one end connected to the VDDA pin of the main control chip and the other end connected to the NRST pin of the main control chip. A first switch, one end of which is connected to the other end of the second pull-up resistor, and the other end of the first switch is grounded; An eighth filter capacitor, one end of which is connected to one end of the first switch, and the other end of which is connected to the other end of the first switch; The ninth filter capacitor has one end connected to the VDDA pin of the main control chip and the other end connected to ground. The tenth filter capacitor has one end connected to the VDD_1 pin of the main control chip and the other end connected to the other end of the ninth filter capacitor. The eleventh filter capacitor has one end connected to the VDD_2 pin of the main control chip and the other end connected to the other end of the ninth filter capacitor. The twelfth filter capacitor has one end connected to the VDD_3 pin of the main control chip and the other end connected to the other end of the ninth filter capacitor. The temperature acquisition and heating temperature control module includes: The third pull-up resistor has one end connected to the PA0-WKUP pin of the main control chip and the other end connected to the VDDA pin of the main control chip. A digital temperature sensor, wherein the VDD pin of the digital temperature sensor is connected to the other end of the third pull-up resistor, the DQ pin of the digital temperature sensor is connected to one end of the third pull-up resistor, and the GND pin of the digital temperature sensor is grounded. The second Schottky diode has its cathode connected to the other end of the fifth filter capacitor and to one end of the PI heating film, while its anode is connected to the other end of the PI heating film. A fuse, one end of which is connected to the other end of the second Schottky diode; The third NMOS field-effect transistor, the drain of which is connected to the other end of the fuse, and the source of which is grounded; A gate drive resistor, one end of which is connected to the PA8 pin of the main control chip, and the other end of which is connected to the gate of the third NMOS field-effect transistor. The third pull-down resistor has one end connected to the other end of the gate drive resistor and the other end connected to the source of the third NMOS field-effect transistor.

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