Flight power system, flight power reconstruction method and computer readable storage medium

Abstract

A flight power system, a flight power reconstruction method, and a computer readable storage medium. The method comprises: if a current short circuit is detected in a flight power system, determining flight electric drive groups (1, 2, 3, 4) where the current short circuit occurs, and isolating the flight electric drive groups (1, 2, 3, 4) where the current short circuit occurs; and controlling the remaining flight electric drive groups (1, 2, 3, 4) to continue to operate.

Description

Flight power system, flight power reconstruction method and computer-readable storage medium

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202310710095.5 filed on June 14, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of computer technology, and in particular to a flight power system, a flight power reconstruction method, and a computer-readable storage medium. Background Art

[0004] Flight propulsion systems generally adopt a multi-system redundant high-voltage architecture, which includes multiple power supply units and multiple flight electric drives. Multiple power supply units are connected in parallel to provide power. When a single point failure occurs, for example, a short circuit in a power supply circuit, the entire flight propulsion system will lose power, resulting in a safety accident.

[0005] Summary of the Invention

[0006] The main purpose of this application is to provide a flight power system, a flight power reconstruction method and a computer-readable storage medium, aiming to solve the problem of how to improve the stability of power provided by the flight power system.

[0007] To achieve the above objectives, the present application provides a flight propulsion system, comprising:

[0008] Power supply unit;

[0009] A flight electric drive group, wherein a plurality of flight electric drive groups are connected in parallel and connected to the power supply unit;

[0010] An isolation device is provided on the line between each two adjacent groups of the flight electric drive groups, and is used to disconnect the connection between the two adjacent groups of the flight electric drive groups.

[0011] In one embodiment, the isolation device includes a first isolation device and a second isolation device, the first isolation device is arranged on the line between the two adjacent groups of flight electric drive groups located in the middle, and the second isolation device is arranged on the line between the remaining two adjacent groups of flight electric drive groups.

[0012] In one embodiment, when the flight electric drive group includes at least two flight electric drives, each of the flight electric drive groups is connected to one of the power supply units.

[0013] In one embodiment, when the number of the power supply units is less than the number of the flight electric drive groups, there are at least two groups of the flight electric drive groups connected to the same power supply unit; when the number of the power supply units is equal to the number of the flight electric drive groups, each group of the flight electric drive groups is connected to a different power supply unit.

[0014] In one embodiment, the number of the power supply units is at least two, and the flight electric drive groups located at the edge are directly connected to the power supply units respectively.

[0015] To achieve the above objectives, the present application provides a flight power reconstruction method, which is applied to a flight power system. The flight power reconstruction method includes:

[0016] If a current short circuit is detected in the flight power system, determining the flight electric drive group where the current short circuit occurs, and isolating the flight electric drive group where the current short circuit occurs;

[0017] Control the remaining flight electric drive groups to continue operating.

[0018] In one embodiment, the step of determining the flight electric drive group having a current short circuit and isolating the flight electric drive group having a current short circuit includes:

[0019] The isolation device is controlled to be opened or closed to determine the flight electric drive group where the current short circuit occurs and to isolate the flight electric drive group where the current short circuit occurs.

[0020] In one embodiment, the step of controlling the opening or closing of the isolation device comprises:

[0021] When the initial state of the first isolation device is a closed state, controlling the first isolation device to open;

[0022] determining at least two groups of the flight electric drive groups to be screened;

[0023] Controlling the second isolation device between at least two groups of the flight electric drive groups to be screened to be disconnected, so that the circuit where one group of the flight electric drive groups is located is disconnected;

[0024] If there is no current short circuit in the circuit where the undisconnected flight electric drive group is located, it is determined that the flight electric drive group where the current short circuit occurs is the disconnected flight electric drive group.

[0025] In one embodiment, the step of controlling the opening or closing of the isolation device comprises:

[0026] When the initial state of the first isolation device is the disconnected state, determining at least two groups of the flight electric drive groups to be screened;

[0027] Controlling the second isolation device between at least two groups of the flight electric drive groups to be screened to be disconnected, so that the circuit where one group of the flight electric drive groups is located is disconnected;

[0028] If there is no current short circuit in the circuit where the undisconnected flight electric drive group is located, it is determined that the flight electric drive group where the current short circuit occurs is the disconnected flight electric drive group.

[0029] In one embodiment, after the step of controlling the disconnection of the second isolation device between the at least two flight electric drive groups to be screened, the method further comprises:

[0030] If the circuit where the undisconnected flight electric drive group is located still has a current short circuit, it is determined that the flight electric drive group where the current short circuit occurs is the undisconnected flight electric drive group;

[0031] The first isolation device is controlled to reclose.

[0032] In one embodiment, after the step of controlling the disconnection of the second isolation device between the at least two flight electric drive groups to be screened, the method further comprises:

[0033] If there is no current short circuit in the circuit where the undisconnected flight electric drive group is located, then the flight electric drive group where the current short circuit occurs is determined to be the disconnected flight electric drive group;

[0034] If the disconnected flight electric drive group is connected to a power supply unit, the power supply unit connected to the disconnected flight electric drive group is controlled to stop supplying power.

[0035] In one embodiment, after the step of controlling the disconnection of the second isolation device between the at least two flight electric drive groups to be screened, the method further comprises:

[0036] If the circuit where the undisconnected flight electric drive group is located still has a current short circuit, it is determined that the flight electric drive group where the current short circuit occurs is the undisconnected flight electric drive group;

[0037] controlling the first isolation device to reclose;

[0038] If the flight electric drive group that has not been disconnected is connected to a power supply unit, the power supply unit that has not been disconnected is controlled to stop supplying power.

[0039] To achieve the above-mentioned objectives, the present application also provides a flight power system, which includes a memory, a processor, and a power reconstruction program stored in the memory and executable on the processor. When the power reconstruction program is executed by the processor, the various steps of the power reconstruction method described above are implemented.

[0040] To achieve the above objectives, the present application also provides a computer-readable storage medium, which stores a power reconstruction program. When the power reconstruction program is executed by a processor, it implements the various steps of the power reconstruction method described above.

[0041] The present application provides a flight power system, a flight power reconstruction method, and a computer-readable storage medium. By identifying and isolating a flight electric drive group where a current short circuit occurs, the normal operation of the flight power system of a flying vehicle is ensured, and the remaining flight electric drive groups are controlled to continue operating. This ensures that the flight power system of the flying vehicle provides sufficient power to support the flight of the flying vehicle, avoids failure of the entire flight power system caused by a short circuit in a certain flight electric drive group, ensures the stability of the power provided by the flight power system, and improves the safety of the flying vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] FIG1 is a schematic structural diagram of the power system of the present application;

[0043] FIG2 is a schematic structural diagram of the power system of the present application;

[0044] FIG3 is a schematic structural diagram of the power system of the present application;

[0045] FIG4 is a schematic structural diagram of a control module of the power system of the present application;

[0046] FIG5 is a schematic structural diagram of a control module of the power system of the present application;

[0047] FIG6 is a schematic structural diagram of a control module of the power system of the present application;

[0048] FIG7 is a schematic diagram of the hardware structure of the flight power system involved in an embodiment of the present application;

[0049] FIG8 is a schematic flow chart of a first embodiment of the power reconfiguration method of the present application;

[0050] FIG9 is a schematic diagram of a detailed flow chart of step S10 of the second embodiment of the power reconfiguration method of the present application;

[0051] FIG10 is a schematic diagram of a detailed flow chart of step S11 of the third embodiment of the power reconfiguration method of the present application;

[0052] FIG11 is a detailed flowchart of step S11 of the fourth embodiment of the power reconstruction method of the present application.

[0053] Description of Figure Numbers:

[0054] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0056] The main solution of the embodiment of the present application is: by determining the flight electric drive group where the current short circuit occurs and isolating it, the normal operation of the flight power system of the flying vehicle is ensured, and the remaining flight electric drive groups are controlled to continue to operate, thereby ensuring that the flight power system of the flying vehicle provides sufficient power to support the flight of the flying vehicle, avoiding the failure of the entire flight power system caused by a short circuit in a certain flight electric drive group, ensuring the stability of the power provided by the flight power system, and improving the safety of the flying vehicle.

[0057] Referring to Figures 1 to 3, Figures 1 to 3 provide a flight power system, which includes: a power supply unit 101; a flight electric drive group, where multiple groups of the flight electric drive groups are connected in parallel and connected to the power supply unit 101; and an isolation device, where the isolation device is arranged on the line between each two adjacent groups of the flight electric drive groups to disconnect the connection between the two adjacent groups of the flight electric drive groups.

[0058] In one embodiment, the flight power system is a power system of an aircraft, a flying vehicle, etc.

[0059] In one embodiment, the power supply unit 101 is used to supply power to the flight electric drive group. For example, the power supply unit 101 is a battery.

[0060] In one embodiment, the flight electric drive group includes at least one flight electric drive, wherein the flight electric drive provides power for the flight device, and the flight device may be a flying car or the like.

[0061] As shown in FIG1 , the flight electric drive group includes a flight electric drive, wherein the flight electric drive group 1 includes a flight electric drive 102 a , the flight electric drive group 2 includes a flight electric drive 102 b , the flight electric drive group 3 includes a flight electric drive 102 c , and the flight electric drive group 4 includes a flight electric drive 102 d .

[0062] As shown in Figure 2, the flight electric drive group includes two flight electric drives, wherein flight electric drive group 1 includes flight electric drive 102a and flight electric drive 102b, flight electric drive group 2 includes flight electric drive 102c and flight electric drive 102d, flight electric drive group 3 includes flight electric drive 102e and flight electric drive 102f, and flight electric drive group 4 includes flight electric drive 102g and flight electric drive 102h.

[0063] In one embodiment, an isolation device is provided on the circuits between each two adjacent flight electric drive groups. As shown in Figure 1 , an isolation device is provided between flight electric drive 102a and flight electric drive 102b, an isolation device is provided between flight electric drive 102b and flight electric drive 102c, and an isolation device is provided between flight electric drive 102c and flight electric drive 102d. As shown in Figure 2 , an isolation device is provided between flight electric drive group 1 and flight electric drive group 2, an isolation device is provided between flight electric drive group 2 and flight electric drive group 3, and an isolation device is provided between flight electric drive group 3 and flight electric drive group 4.

[0064] In one embodiment, the isolation device includes a first isolation device 103 and a second isolation device 104. The first isolation device 103 may be a fast isolation device, such as a solid-state power controller (SSPC). In one embodiment, the second isolation device 104 may be a current fuse, etc. In one embodiment, the first isolation device 103 and the second isolation device 104 are switch devices.

[0065] In one embodiment, the first isolation device 103 is provided on the line between two adjacent flight electric drive groups located in the middle.

[0066] As shown in Figure 1, the two adjacent groups of flight electric drive groups located in the middle are flight electric drive 102b and flight electric drive 102c, respectively. The first isolation device 103 is arranged on the line between the flight electric drive 102b and the flight electric drive 102c, and the second isolation device 104 is arranged on the line between the remaining two adjacent groups of flight electric drive groups, that is, the second isolation device 104 is arranged on the line between the flight electric drive 102a and the flight electric drive 102b, and the second isolation device 104 is arranged on the line between the flight electric drive 102c and the flight electric drive 102d.

[0067] As shown in Figure 2, the two adjacent groups of flight electric drive groups located in the middle are flight electric drive group 2 and flight electric drive group 3. The first isolation device 103 is set on the line between flight electric drive group 2 and flight electric drive group 3, and the second isolation device 104 is set on the line between the remaining two adjacent groups of flight electric drive groups, that is, the second isolation device 104 is set on the line between flight electric drive group 1 and flight electric drive group 2, and the second isolation device 104 is set on the line between flight electric drive group 3 and flight electric drive group 4.

[0068] In one embodiment, when the flight electric drive group includes at least two flight electric drives, each flight electric drive group is connected to a power supply unit 101. As shown in Figure 2, flight electric drive group 1 is connected to power supply unit 101a, flight electric drive group 2 is connected to power supply unit 101b, flight electric drive group 3 is connected to power supply unit 101c, and flight electric drive group 4 is connected to power supply unit 101d, so as to ensure the power supply of the flight electric drive group and ensure the normal operation of the flight electric drives in the flight electric drive group.

[0069] In one embodiment, when the number of power supply units is less than the number of flight electric drive groups, at least two flight electric drive groups are connected to the same power supply unit 101. As shown in FIG1 , after the first isolation device 103 is disconnected, flight electric drive 102a is connected to power supply unit 101a, flight electric drive 102b is connected to power supply unit 101a, flight electric drive 102c is connected to power supply unit 101b, and flight electric drive 102d is connected to power supply unit 101b.

[0070] As shown in Figure 3, after the second isolation device 104 and the first isolation device 103 between the flight electric drive 102a and the flight electric drive 102b are disconnected, the flight electric drive 102a is connected to the power supply unit 101a, the flight electric drive 102b is connected to the power supply unit 101b, and the flight electric drive 102c and the flight electric drive 102d are connected to the power supply unit 101c.

[0071] In one embodiment, when the number of power supply units equals the number of flight electric drive groups, each flight electric drive group is connected to a different power supply unit 101. As shown in Figure 2, when the isolation devices are all disconnected, flight electric drive group 1 is connected to power supply unit 101a, flight electric drive group 2 is connected to power supply unit 101b, flight electric drive group 3 is connected to power supply unit 101c, and flight electric drive group 4 is connected to power supply unit 101d.

[0072] In one embodiment, when there is only one power supply unit 101 and multiple flight electric drive groups, the isolation device experiencing a current short circuit can be determined by sequentially disconnecting the isolation devices between each flight electric drive group. For example, if four flight electric drive groups are connected in parallel to the power supply unit 101, the isolation devices between each flight electric drive group can be disconnected to determine the specific circuit experiencing a current short circuit. For example, if the isolation device between flight electric drive group 3 and flight electric drive group 4 is disconnected and no current short circuit exists in the flight power system, the flight electric drive group experiencing the current short circuit is determined to be flight electric drive group 4, and the remaining flight electric drive groups can continue to operate to ensure flight power.

[0073] In one embodiment, when the number of power supply units 101 is at least two, the flight electric drive groups located at the edge positions are respectively connected to the power supply units 101. As shown in Figure 1, the flight electric drive groups located at the edge positions are flight electric drive 102a and flight electric drive 102d. Flight electric drive 102a and flight electric drive 102d are directly connected to the corresponding power supply units. Even if the isolation device is disconnected, the flight electric drive groups located at the edge positions will continue to be powered.

[0074] In one embodiment, as shown in Figure 4, taking 2 power supply units and 4 flight electric drives as an example, the flight power system also includes a control module, wherein the first isolation device control module 501 is respectively connected to the flight electric drive control module 301, that is, the first isolation device control module 501 is connected to the flight electric drive control module 301a, the first isolation device control module 501 is connected to the flight electric drive control module 301b, the first isolation device control module 501 is connected to the flight electric drive control module 301c, and the first isolation device control module 501 is connected to the flight electric drive control module 301d; the first isolation device control module 501 is respectively connected to the power supply unit control module, that is, the first isolation device control module 501 is connected to the power supply unit control module 202a, and the first isolation device control module 501 is connected to the power supply unit control module 202b; after the flight electric drive control modules are connected in parallel, they are connected to the flight control module 401, and the power supply unit control modules are respectively connected to the flight control module 401.

[0075] In one embodiment, as shown in Figure 5, taking 4 power supply units and 8 flight electric drives as an example, the flight power system also includes a control module, wherein the first isolation device control module 501 is respectively connected to the flight electric drive control module, that is, the first isolation device control module 501 is respectively connected to the flight electric drive control module 301a to the flight electric drive control module 301h; the first isolation device control module 501 is respectively connected to the power supply unit control module, that is, the first isolation device control module 501 is respectively connected to the power supply unit control module 202a to the power supply unit control module 202d; after the flight electric drive control module is connected in parallel, it is connected to the flight control module 401, and the power supply unit control module is respectively connected to the flight control module 401.

[0076] In one embodiment, as shown in Figure 6, taking 3 power supply units and 4 flight electric drives as an example, the flight power system also includes a control module, wherein the first isolation device control module 501 is respectively connected to the flight electric drive control module, that is, the first isolation device control module 501 is respectively connected to the flight electric drive control module 301a to the flight electric drive control module 301d; the first isolation device control module 501 is respectively connected to the power supply unit control module, that is, the first isolation device control module 501 is respectively connected to the power supply unit control module 202a to the power supply unit control module 202c; after the flight electric drive control module is connected in parallel, it is connected to the flight control module 401, and the power supply unit control module is respectively connected to the flight control module 401.

[0077] In the technical solution of this embodiment, an isolation device is provided between adjacent flight electric drive groups to avoid failure of the entire flight power system when a short circuit occurs in a flight electric drive group, thereby ensuring the stability of the power provided by the flight power system and improving the safety of the flight vehicle.

[0078] As an implementation scheme, the flight power system can be shown in FIG7 .

[0079] The embodiment of the present application relates to a flight power system, which includes a processor 101, such as a CPU, a memory 102, and a communication bus 103. The communication bus 103 is used to achieve connection and communication between these components.

[0080] The memory 102 may be a high-speed RAM memory or a non-volatile memory, such as a disk storage. As shown in FIG7 , the memory 102 , which is a computer-readable storage medium, may include a power reconfiguration program. The processor 101 may be configured to call the power reconfiguration program stored in the memory 102 and perform the following operations:

[0081] If a current short circuit is detected in the flight power system, determining the flight electric drive group where the current short circuit occurs, and isolating the flight electric drive group where the current short circuit occurs;

[0082] Control the remaining flight electric drive groups to continue operating.

[0083] In one embodiment, the processor 101 may be configured to call a power reconfiguration program stored in the memory 102 and perform the following operations:

[0084] The isolation device is controlled to be opened or closed to determine the flight electric drive group where the current short circuit occurs and to isolate the flight electric drive group where the current short circuit occurs.

[0085] In one embodiment, the processor 101 may be configured to call a power reconfiguration program stored in the memory 102 and perform the following operations:

[0086] When the initial state of the first isolation device is a closed state, controlling the first isolation device to open;

[0087] determining at least two groups of the flight electric drive groups to be screened;

[0088] Controlling the second isolation device between at least two groups of the flight electric drive groups to be screened to be disconnected, so that the circuit where one group of the flight electric drive groups is located is disconnected;

[0089] If there is no current short circuit in the circuit where the undisconnected flight electric drive group is located, it is determined that the flight electric drive group where the current short circuit occurs is the disconnected flight electric drive group.

[0090] In one embodiment, the processor 101 may be configured to call a power reconfiguration program stored in the memory 102 and perform the following operations:

[0091] When the initial state of the first isolation device is the disconnected state, determining at least two groups of the flight electric drive groups to be screened;

[0092] Controlling the second isolation device between at least two groups of the flight electric drive groups to be screened to be disconnected, so that the circuit where one group of the flight electric drive groups is located is disconnected;

[0093] If there is no current short circuit in the circuit where the undisconnected flight electric drive group is located, it is determined that the flight electric drive group where the current short circuit occurs is the disconnected flight electric drive group.

[0094] In one embodiment, the processor 101 may be configured to call a power reconfiguration program stored in the memory 102 and perform the following operations:

[0095] If the circuit where the undisconnected flight electric drive group is located still has a current short circuit, it is determined that the flight electric drive group where the current short circuit occurs is the undisconnected flight electric drive group;

[0096] The first isolation device is controlled to reclose.

[0097] In one embodiment, the processor 101 may be configured to call a power reconfiguration program stored in the memory 102 and perform the following operations:

[0098] If there is no current short circuit in the circuit where the undisconnected flight electric drive group is located, then the flight electric drive group where the current short circuit occurs is determined to be the disconnected flight electric drive group;

[0099] If the disconnected flight electric drive group is connected to a power supply unit, the power supply unit connected to the disconnected flight electric drive group is controlled to stop supplying power.

[0100] In one embodiment, the processor 101 may be configured to call a power reconfiguration program stored in the memory 102 and perform the following operations:

[0101] If the circuit where the undisconnected flight electric drive group is located still has a current short circuit, it is determined that the flight electric drive group where the current short circuit occurs is the undisconnected flight electric drive group;

[0102] controlling the first isolation device to reclose;

[0103] If the flight electric drive group that has not been disconnected is connected to a power supply unit, the power supply unit that has not been disconnected is controlled to stop supplying power.

[0104] Based on the hardware architecture and structure of the above-mentioned flight power system, an embodiment of the power reconstruction method of the present application is proposed.

[0105] 8 , which shows a first embodiment of the power reconfiguration method of the present application, the power reconfiguration method includes the following steps:

[0106] Step S10: If a current short circuit is detected in the flight power system, the flight electric drive group where the current short circuit occurs is determined, and the flight electric drive group where the current short circuit occurs is isolated.

[0107] In one embodiment, the magnitude and direction of the current in the flight power system are detected in real time. In one embodiment, the first isolation device control module detects the magnitude and direction of the current in the flight power system in real time.

[0108] In one embodiment, when a short circuit fault occurs in the high-voltage circuit of the flight power system, a short circuit current is generated. Therefore, when the current is greater than a preset current threshold, it is determined that a current short circuit exists in the flight power system.

[0109] However, if a short circuit occurs in the flight propulsion system, if all the flight electric drive units cease functioning simultaneously, the vehicle will lose power and crash. If half the flight electric drive units cease functioning, the vehicle will descend at a certain acceleration and eventually crash. To provide sufficient lift for stable flight and landing, at least a predetermined number of flight electric drive units must be operating simultaneously, where the predetermined number is a predetermined proportion of the total number of units, for example, three-quarters of the total number.

[0110] Therefore, it is necessary to identify the flight electric drive group with a short circuit and isolate the short circuited flight electric drive group, while connecting the remaining flight electric drive groups to the power supply unit. In one embodiment, current detection can be performed on the circuit where each flight electric drive group is located to identify the flight electric drive group with a short circuit.

[0111] Step S20: Control the remaining flight electric drive groups to continue operating.

[0112] After isolating the short-circuited flight electric drive unit, the remaining flight electric drive units are controlled to continue operating in order to provide sufficient lift to ensure stable flight and landing of the flying vehicle.

[0113] In the technical solution of this embodiment, by identifying the flight electric drive group with a current short circuit and isolating it, the normal operation of the flight power system of the flying vehicle is guaranteed, and the remaining flight electric drive groups are controlled to continue operating, ensuring that the flight power system of the flying vehicle provides sufficient power to support the flight of the flying vehicle, avoiding the failure of the entire flight power system caused by a short circuit in a certain flight electric drive group, ensuring the stability of the power provided by the flight power system, and improving the safety of the flying vehicle.

[0114] Referring to FIG. 9 , FIG. 9 is a second embodiment of the power reconfiguration method of the present application. Based on the first embodiment, determining the flight electric drive group having a current short circuit and isolating the flight electric drive group having a current short circuit in step S10 includes:

[0115] Step S11 , controlling the opening or closing of the isolation device to determine the flight electric drive group where the current short circuit occurs, and isolating the flight electric drive group where the current short circuit occurs.

[0116] In one embodiment, when there is only one power supply unit and multiple flight electric drive groups, the isolation device experiencing a current short circuit can be identified by sequentially disconnecting the isolation devices between each flight electric drive group. For example, if four flight electric drive groups are connected in parallel to the power supply unit, the isolation devices between each flight electric drive group can be disconnected to determine the specific circuit experiencing a current short circuit. For example, if the isolation device between flight electric drive group 3 and flight electric drive group 4 is disconnected and no current short circuit exists in the flight power system, the flight electric drive group experiencing the current short circuit is determined to be flight electric drive group 4, and the remaining flight electric drive groups can continue to operate to ensure flight power.

[0117] In the technical solution of this embodiment, by controlling the opening and closing of the isolation device, the flight electric drive group where the current short circuit occurs is determined, and the flight electric drive group where the current short circuit occurs is isolated. By determining the flight electric drive group where the current short circuit occurs and isolating it, the normal operation of the flight power system of the flying vehicle is guaranteed, and the remaining flight electric drive groups are controlled to continue operating, ensuring that the flight power system of the flying vehicle provides sufficient power to support the flight of the flying vehicle, avoiding the failure of the entire flight power system caused by a short circuit in a certain flight electric drive group, ensuring the stability of the power provided by the flight power system, and improving the safety of the flying vehicle.

[0118] Referring to FIG. 10 , FIG. 10 is a third embodiment of the power reconstruction method of the present application. Based on the first or second embodiment, step S11 includes:

[0119] Step S111, when the initial state of the first isolation device is the closed state, controlling the first isolation device to be opened;

[0120] Step S112, determining at least two groups of flight electric drive groups to be screened;

[0121] Step S113, controlling the second isolation device between at least two groups of the flight electric drive groups to be screened to be disconnected, so that the circuit where one group of the flight electric drive groups is located is disconnected;

[0122] Step S114 : If there is no current short circuit in the circuit where the undisconnected flight electric drive group is located, it is determined that the flight electric drive group where the current short circuit occurs is the disconnected flight electric drive group.

[0123] In one embodiment, since the first isolation device 103 is arranged on the line between two adjacent flight electric drive groups, the first isolation device 103 is controlled to be disconnected, the flight electric drive group is divided into two parts, and the current of the line where the two parts of the flight electric drive groups are located is re-detected to determine that the flight electric drive groups that still have a current short circuit are at least two flight electric drive groups to be screened.

[0124] In one embodiment, the second isolation device 104 between at least two flight electric drive groups to be screened is controlled to be disconnected, so that the circuit where one flight electric drive group is located is disconnected.

[0125] In one embodiment, if there is no current short circuit in the circuit where the undisconnected flight electric drive group is located, the flight electric drive group where the current short circuit occurs is determined to be the disconnected flight electric drive group.

[0126] In one embodiment, if a current short circuit still exists in the circuit where the undisconnected flight electric drive group is located, the flight electric drive group where the current short circuit occurs is determined to be the undisconnected flight electric drive group; and the first isolation device 103 is controlled to close again to reconnect the disconnected flight electric drive group to the power supply unit.

[0127] In one embodiment, if there is no current short circuit in the circuit where the undisconnected flight electric drive group is located, the flight electric drive group where the current short circuit occurs is determined to be the disconnected flight electric drive group; if the disconnected flight electric drive group is connected to a power supply unit, the power supply unit connected to the disconnected flight electric drive group is controlled to stop supplying power.

[0128] In one embodiment, if a current short circuit still exists in the circuit where the undisconnected flight electric drive group is located, the flight electric drive group where the current short circuit occurs is determined to be the undisconnected flight electric drive group; the first isolation device 103 is controlled to be closed again; if the undisconnected flight electric drive group is connected to a power supply unit, the power supply unit connected to the undisconnected flight electric drive group is controlled to stop supplying power.

[0129] In one embodiment, as shown in FIG1 , using two power supply units and four flight electric drives as an example, but not limited to this structure, if a current short circuit is detected in the flight power system and the first isolation device 103 is initially closed, the first isolation device 103 is controlled to open, dividing the flight electric drive group into two parts, wherein flight electric drives 102a and 102b are connected to power supply unit 101a, and flight electric drives 102c and 102d are connected to power supply unit 101b. The current in the circuits containing the two flight electric drives is then detected separately.

[0130] In one embodiment, if a current short circuit occurs in the circuit where the flight electric drive 102a and the flight electric drive 102b are located, the flight electric drive 102a and the flight electric drive 102b are determined to be at least two flight electric drive groups to be screened, and the second isolation device 104 between the flight electric drive 102a and the flight electric drive 102b is controlled to disconnect. At this time, the circuit where the flight electric drive 102b is located is disconnected. If there is no current short circuit in the remaining flight electric drive group, that is, there is no current short circuit in the circuit where the flight electric drive 102a is located, then the flight electric drive 102b is determined to be the flight electric drive group that has experienced a current short circuit. If a current short circuit occurs in the undisconnected flight electric drive group, it is determined that the flight electric drive group with the current short circuit is the flight electric drive group where the flight electric drive 102a is located, and the first isolation device 103 is closed to reconnect the flight electric drive 102b to the power supply unit, that is, the flight electric drive 102b is connected to the power supply unit 101b. Before closing the first isolation device 103, it is also necessary to control the power supply unit 101a connected to the flight electric drive 102a to stop supplying power to ensure that the power supply unit is not burned by the short-circuit current.

[0131] In one embodiment, if a current short circuit occurs in the circuits where the flight electric drive 102c and the flight electric drive 102d are located, the flight electric drive 102c and the flight electric drive 102d are determined to be at least two flight electric drive groups to be screened, and the second isolation device 104 between the flight electric drive 102c and the flight electric drive 102d is controlled to disconnect. At this time, the circuit where the flight electric drive 102c is located is disconnected. If there is no current short circuit in the remaining flight electric drive group, that is, there is no current short circuit in the circuit where the flight electric drive 102d is located, then the flight electric drive 102c is determined to be the flight electric drive group that has experienced a current short circuit. If a current short circuit occurs in the undisconnected flight electric drive group, it is determined that the flight electric drive group with the current short circuit is the flight electric drive group where the flight electric drive 102d is located, and the first isolation device 103 is closed to reconnect the flight electric drive 102c to the power supply unit, that is, the flight electric drive 102c is connected to the power supply unit 101a. Before closing the first isolation device 103, it is also necessary to control the power supply unit 101b connected to the flight electric drive 102d to stop supplying power to ensure that the power supply unit is not burned by the short-circuit current.

[0132] In one embodiment, as shown in FIG4 , in the power reconfiguration control strategy, the first isolation device control module 501 detects the magnitude and direction of the current passing through it in real time. When a short circuit fault occurs in the flight power system circuit, a short circuit current is generated. After the first isolation device control module 501 detects that the current is greater than or equal to a preset current threshold, it controls the first isolation device 103 to be disconnected within a preset time period T1, and then transmits the disconnected status of the first isolation device 103 to the power supply unit control module 202a and the power supply unit control module 202b. When the first isolation device 103 is disconnected, the short circuit fault point is isolated on the power supply unit 101a or the power supply unit 101b. At this time, two flight electric drive control modules will enter a fault state and transmit a faulty flight electric drive control module working state to the flight control module 401. Two flight electric drive control modules will remain in a working state and transmit a working flight electric drive control module working state to the flight control module 401. When the flight control module 401 detects that the flight electric drive control module has entered a fault state, it transmits a restart flight electric drive working mode instruction to the flight electric drive control module. The flight electric drive control module does not respond to the restart instruction sent by the flight control module 401 when in a fault state.

[0133] After first isolation device control module 501 is disconnected, it determines the direction of current flow before disconnection. If the current flows from power supply unit 101a to power supply unit 101b, it controls second isolation device 1042 to disconnect. If the current flows from power supply unit 101b to power supply unit 101a, it controls second isolation device 1041 to disconnect. The second isolation device 104 between flight electric drive 102a and flight electric drive 102b is second isolation device 1041, and the second isolation device 104 between flight electric drive 102c and flight electric drive 102d is second isolation device 1042.

[0134] The power supply unit control module 202a and the power supply unit control module 202b will perform auxiliary judgment. If the power supply unit 101a detects a current abnormality, it will send a cut-off request instruction for the second isolation device 1041 to the first isolation device control module 501 to cut off. If the power supply unit 101b detects a current abnormality, it will send a cut-off request instruction for the second isolation device 1042 to the first isolation device control module 501 to cut off.

[0135] If the second isolation device 1041 is disconnected, the power supply unit control module 202a determines if the current returns to normal, proving that the short circuit is between isolation device 1 and first isolation device 103. Power reconfiguration is not required. Power supply unit 101a supplies power to flight electric drive 102a, and power supply unit 101b supplies power to flight electric drives 102c and 102d. If the current does not return to normal, proving that the short circuit is between power supply unit 101a and isolation device 1, power reconfiguration is required. The power supply unit control module 202a sends a power reconfiguration request to the first isolation device control module 501.

[0136] If the second isolation device 1042 is disconnected, the power supply unit control module 202b determines that if the current returns to normal, the short circuit is between the isolation device 2 and the first isolation device 103. At this point, no power reconfiguration is required. The power supply unit 101b supplies power to the flight electric drive 102d, and the power supply unit 101a supplies power to the flight electric drives 102a and 102b. If the current does not return to normal, the short circuit is between the power supply unit 101b and the isolation device 2. Power reconfiguration is required. The power supply unit control module 202b sends a power reconfiguration request to the first isolation device control module 501.

[0137] If the first isolation device control module 501 receives no power reconfiguration request, it will remain disconnected. If any power reconfiguration request is a yes request, it will start power reconfiguration.

[0138] The first isolation device control module 501 controls the first isolation device 103 to close again, controls the output voltage to gradually increase without damaging components such as capacitors, reaches the battery voltage within T2, and then sends a message to the flight electric drive control module indicating that the power reconstruction result is completed.

[0139] After the flight electric drive control module receives a message indicating that the power reconfiguration result is complete and detects that the flight electric drive input voltage has returned to normal, it jumps from the fault state to the standby state. At this time, it responds to the restart command sent by the flight module and jumps from the standby state to the restart state. After the flight control module 401 detects that the flight electric drive control module has entered the restart state, it sends the flight electric drive target speed N to the flight electric drive control module. The flight electric drive control module responds to the target speed, controls the flight electric drive to operate at the target speed value, and sends the "flight electric drive actual speed" to the flight control module 401. After the flight control module 401 detects that the flight electric drive actual speed has reached the target speed, it sends a message to the flight electric drive indicating that the flight electric drive operating status is working. After receiving the message that the flight electric drive operating status is working, the flight electric drive jumps from the restart state to the working state, and the power reconfiguration is completed.

[0140] In one embodiment, as shown in FIG2 , using four power supply units and eight flight electric drives as an example, but not limited to this structure, if a current short circuit is detected in the flight power system and the first isolation device 103 is initially closed, the first isolation device 103 is controlled to open, dividing the flight electric drive group into two parts. Flight electric drive group 1 and flight electric drive group 2 are connected to power supply units 101a and 101b, respectively, while flight electric drive group 3 and flight electric drive group 4 are connected to power supply units 101c and 101d. The current in each of the two circuits is then detected.

[0141] In one embodiment, if a short circuit occurs in the circuits containing flight electric drive group 1 and flight electric drive group 2, flight electric drive group 1 and flight electric drive group 2 are determined to be at least two flight electric drive groups to be screened. The second isolation device 104 between flight electric drive group 1 and flight electric drive group 2 is controlled to disconnect, and the circuit containing flight electric drive group 2 is disconnected. If the remaining flight electric drive group does not have a short circuit, that is, the circuit containing flight electric drive group 1 does not have a short circuit, flight electric drive group 2 is determined to be the flight electric drive group with a short circuit, and the power supply unit 101b connected to flight electric drive group 2 is controlled to stop supplying power to ensure that the power supply unit is not burned by the short-circuit current. If a short circuit occurs in the remaining flight electric drive group, the flight electric drive group with a short circuit is determined to be flight electric drive group 1, and the first isolation device 103 is closed to reconnect flight electric drive group 2 to the power supply unit, that is, flight electric drives 102c and 102d are connected to power supply units 101b, 101c, and 101d. Before closing the first isolation device 103 , it is also necessary to control the power supply unit 101 a connected to the flight electric drive group 1 to stop supplying power to ensure that the power supply unit is not burned by the short circuit.

[0142] In one embodiment, if a current short circuit occurs in the circuit where the flight electric drive group 3 and the flight electric drive group 4 are located, the flight electric drive group 3 and the flight electric drive group 4 are determined to be at least two groups of flight electric drive groups to be screened, and the second isolation device 104 between the flight electric drive group 3 and the flight electric drive group 4 is controlled to be disconnected. At this time, the circuit where the flight electric drive group 3 is located is disconnected. If there is no current short circuit in the flight electric drive group that is not disconnected, that is, there is no current short circuit in the circuit where the flight electric drive group 4 is located, the flight electric drive group 4 is determined to be the flight electric drive group that has a current short circuit, and the power supply unit 101d connected to the flight electric drive group 4 is controlled to stop supplying power to ensure that the power supply unit is not burned by the short-circuit current. If there is a current short circuit in the undisconnected flight electric drive group, it is determined that the flight electric drive group with the current short circuit is flight electric drive group 4, and the first isolation device 103 is closed to reconnect the flight electric drive group 3 with the power supply unit, that is, the flight electric drive group 3 is connected to the power supply unit 101a, the power supply unit 101b and the power supply unit 101c. Before closing the first isolation device 103, it is also necessary to control the power supply unit 101d connected to the flight electric drive group 4 to stop supplying power to ensure that the power supply unit is not burned by the short-circuit current.

[0143] In one embodiment, as shown in FIG5 , the power reconstruction control strategy is generally the same as the control strategy of two battery packs and four flight electric drives. It is only necessary to turn off the high voltage of the power supply unit on the reconstruction side before closing the first isolation device 103 .

[0144] In one embodiment, as shown in FIG3 , using three power supply units and four flight electric drives as an example, but not limited to this structure, if a current short circuit is detected in the flight power system and the first isolation device 103 is initially closed, the first isolation device 103 is controlled to open, dividing the flight electric drive group into two parts, with flight electric drive group 1 and flight electric drive group 2 connected to power supply units 101a and 101b, and flight electric drive group 3 and flight electric drive group 4 connected to power supply unit 101c. The current in the circuits containing the two flight electric drives is then detected separately.

[0145] In one embodiment, if a short circuit occurs in the circuits containing flight electric drive group 1 and flight electric drive group 2, flight electric drive group 1 and flight electric drive group 2 are determined to be at least two flight electric drive groups to be screened. The second isolation device 104 between flight electric drive group 1 and flight electric drive group 2 is controlled to open, and the circuit containing flight electric drive group 2 is disconnected. If the remaining flight electric drive group does not have a short circuit, that is, the circuit containing flight electric drive group 1 does not have a short circuit, flight electric drive group 2 is determined to be the flight electric drive group with a short circuit. Since flight electric drive group 2 is connected to a power supply unit, power supply unit 101b connected to flight electric drive group 2 is controlled to stop supplying power to ensure that the power supply unit is not burned by the short-circuit current. If a short circuit occurs in the remaining flight electric drive group, the flight electric drive group with a short circuit is determined to be flight electric drive group 1, and the first isolation device 103 is closed to reconnect flight electric drive group 2 to the power supply unit, that is, flight electric drive group 102b is connected to power supply unit 101b and power supply unit 101c. Before closing the first isolation device 103 , it is also necessary to control the power supply unit 101 a connected to the flight electric drive group 1 to stop supplying power to ensure that the power supply unit is not burned by the short circuit.

[0146] In one embodiment, if a current short circuit occurs in the circuit where the flight electric drive group 3 and the flight electric drive group 4 are located, the flight electric drive group 102c and the flight electric drive group 4 are determined to be at least two groups of flight electric drive groups to be screened, and the second isolation device 104 between the flight electric drive group 3 and the flight electric drive group 4 is controlled to be disconnected. At this time, the circuit where the flight electric drive group 3 is located is disconnected. If there is no current short circuit in the flight electric drive group that is not disconnected, that is, there is no current short circuit in the circuit where the flight electric drive group 4 is located, then the flight electric drive 102c is determined to be the flight electric drive group that has a current short circuit. If a current short circuit occurs in the undisconnected flight electric drive group, it is determined that the flight electric drive group with the current short circuit is the flight electric drive group where the flight electric drive 102d is located, and the first isolation device 103 is closed to reconnect the flight electric drive 102c to the power supply unit, that is, the flight electric drive 102c is connected to the power supply unit 101a. Before closing the first isolation device 103, it is also necessary to control the power supply unit 101b connected to the flight electric drive 102c to stop supplying power to ensure that the power supply unit is not burned by the short-circuit current.

[0147] In one embodiment, as shown in FIG6 , the power reconstruction control strategy is generally the same as the control strategy of two battery packs and four flight electric drives. It is only necessary to turn off the high voltage of the power supply unit on the reconstruction side before closing the first isolation device 103 .

[0148] In the technical solution of this embodiment, by controlling the opening or closing of the first isolation device 103 and the second isolation device 104, the flight electric drive group with a current short circuit is determined and the flight electric drive group with a current short circuit is isolated. By determining the flight electric drive group with a current short circuit and isolating it, the normal operation of the flight power system of the flying vehicle is guaranteed, and the remaining flight electric drive groups are controlled to continue operating, ensuring that the flight power system of the flying vehicle provides sufficient power to support the flight of the flying vehicle, avoiding the failure of the entire flight power system caused by a short circuit in a certain flight electric drive group, ensuring the stability of the power provided by the flight power system, and improving the safety of the flying vehicle.

[0149] Referring to FIG. 11 , FIG. 11 is a fourth embodiment of the power reconfiguration method of the present application. Based on any one of the first to third embodiments, step S11 includes:

[0150] Step S115, when the initial state of the first isolation device is the disconnected state, determining at least two groups of the flight electric drive groups to be screened;

[0151] Step S116, controlling the second isolation device between at least two groups of the flight electric drive groups to be screened to be disconnected, so that the circuit where one group of the flight electric drive groups is located is disconnected;

[0152] Step S117 : If there is no current short circuit in the circuit where the undisconnected flight electric drive group is located, it is determined that the flight electric drive group where the current short circuit occurs is the disconnected flight electric drive group.

[0153] In one embodiment, when the initial state of the first isolation device 103 is the disconnected state, when a current short circuit occurs in the flight power system, the current magnitude and current flow direction of the two parts of the flight electric drive group are directly detected to determine whether a current short circuit occurs in at least two groups of flight electric drive groups to be screened.

[0154] In one embodiment, the second isolation device 104 between at least two flight electric drive groups to be screened is controlled to be disconnected, so that the circuit where one flight electric drive group is located is disconnected.

[0155] In one embodiment, if there is no current short circuit in the circuit where the undisconnected flight electric drive group is located, the flight electric drive group where the current short circuit occurs is determined to be the disconnected flight electric drive group.

[0156] In one embodiment, if a current short circuit still exists in the circuit where the undisconnected flight electric drive group is located, the flight electric drive group where the current short circuit occurs is determined to be the undisconnected flight electric drive group; and the first isolation device 103 is controlled to close again to reconnect the disconnected flight electric drive group to the power supply unit.

[0157] In one embodiment, if there is no current short circuit in the circuit where the undisconnected flight electric drive group is located, the flight electric drive group where the current short circuit occurs is determined to be the disconnected flight electric drive group; if the disconnected flight electric drive group is connected to a power supply unit, the power supply unit connected to the disconnected flight electric drive group is controlled to stop supplying power.

[0158] In one embodiment, if a current short circuit still exists in the circuit where the undisconnected flight electric drive group is located, the flight electric drive group where the current short circuit occurs is determined to be the undisconnected flight electric drive group; the first isolation device 103 is controlled to be closed again; if the undisconnected flight electric drive group is connected to a power supply unit, the power supply unit connected to the undisconnected flight electric drive group is controlled to stop supplying power.

[0159] In one embodiment, as shown in FIG1 , using two power supply units and four flight electric drives as an example, but not limited to this structure, if a current short circuit is detected in the flight power system and the first isolation device 103 is initially closed, the first isolation device 103 is controlled to open, dividing the flight electric drive group into two parts, wherein flight electric drives 102a and 102b are connected to power supply unit 101a, and flight electric drives 102c and 102d are connected to power supply unit 101b. The current in the circuits containing the two flight electric drives is then detected separately.

[0160] In one embodiment, if a current short circuit occurs in the circuit where the flight electric drive 102a and the flight electric drive 102b are located, the flight electric drive 102a and the flight electric drive 102b are determined to be at least two flight electric drive groups to be screened, and the second isolation device 104 between the flight electric drive 102a and the flight electric drive 102b is controlled to disconnect. At this time, the circuit where the flight electric drive 102b is located is disconnected. If there is no current short circuit in the remaining flight electric drive group, that is, there is no current short circuit in the circuit where the flight electric drive 102a is located, then the flight electric drive 102b is determined to be the flight electric drive group that has experienced a current short circuit. If a current short circuit occurs in the undisconnected flight electric drive group, it is determined that the flight electric drive group with the current short circuit is the flight electric drive group where the flight electric drive 102a is located, and the first isolation device 103 is closed to reconnect the flight electric drive 102b to the power supply unit, that is, the flight electric drive 102b is connected to the power supply unit 101b. Before closing the first isolation device 103, it is also necessary to control the power supply unit 101a connected to the flight electric drive 102a to stop supplying power to ensure that the power supply unit is not burned by the short-circuit current.

[0161] In one embodiment, if a current short circuit occurs in the circuits where the flight electric drive 102c and the flight electric drive 102d are located, the flight electric drive 102c and the flight electric drive 102d are determined to be at least two flight electric drive groups to be screened, and the second isolation device 104 between the flight electric drive 102c and the flight electric drive 102d is controlled to disconnect. At this time, the circuit where the flight electric drive 102c is located is disconnected. If there is no current short circuit in the remaining flight electric drive group, that is, there is no current short circuit in the circuit where the flight electric drive 102d is located, then the flight electric drive 102c is determined to be the flight electric drive group that has experienced a current short circuit. If a current short circuit occurs in the undisconnected flight electric drive group, it is determined that the flight electric drive group with the current short circuit is the flight electric drive group where the flight electric drive 102d is located, and the first isolation device 103 is closed to reconnect the flight electric drive 102c to the power supply unit, that is, the flight electric drive 102c is connected to the power supply unit 101a. Before closing the first isolation device 103, it is also necessary to control the power supply unit 101b connected to the flight electric drive 102d to stop supplying power to ensure that the power supply unit is not burned by the short-circuit current.

[0162] In one embodiment, as shown in FIG4 , in the power reconfiguration control strategy, the first isolation device control module 501 detects the magnitude and direction of the current passing through it in real time. When a short circuit fault occurs in the flight power system circuit, a short circuit current is generated. After the first isolation device control module 501 detects that the current is greater than or equal to a preset current threshold, it controls the first isolation device 103 to be disconnected within a preset time period T1, and then transmits the disconnected status of the first isolation device 103 to the power supply unit control module 202a and the power supply unit control module 202b. When the first isolation device 103 is disconnected, the short circuit fault point is isolated on the power supply unit 101a or the power supply unit 101b. At this time, two flight electric drive control modules will enter a fault state and transmit a faulty flight electric drive control module working state to the flight control module 401. Two flight electric drive control modules will remain in a working state and transmit a working flight electric drive control module working state to the flight control module 401. When the flight control module 401 detects that the flight electric drive control module has entered a fault state, it transmits a restart flight electric drive working mode instruction to the flight electric drive control module. The flight electric drive control module does not respond to the restart instruction sent by the flight control module 401 when in a fault state.

[0163] After first isolation device control module 501 is disconnected, it determines the direction of current flow before disconnection. If the current flows from power supply unit 101a to power supply unit 101b, it controls second isolation device 1042 to disconnect. If the current flows from power supply unit 101b to power supply unit 101a, it controls second isolation device 1041 to disconnect. The second isolation device 104 between flight electric drive 102a and flight electric drive 102b is second isolation device 1041, and the second isolation device 104 between flight electric drive 102c and flight electric drive 102d is second isolation device 1042.

[0164] The power supply unit control module 202a and the power supply unit control module 202b will perform auxiliary judgment. If the power supply unit 101a detects a current abnormality, it will send a cut-off request instruction for the second isolation device 1041 to the first isolation device control module 501 to cut off. If the power supply unit 101b detects a current abnormality, it will send a cut-off request instruction for the second isolation device 1042 to the first isolation device control module 501 to cut off.

[0165] If the second isolation device 1041 is disconnected, the power supply unit control module 202a determines that if the current returns to normal, the short circuit is between the isolation device 1 and the first isolation device 103. At this point, no power reconfiguration is required. Power supply unit 101a supplies power to flight electric drive 102a, and power supply unit 101b supplies power to flight electric drives 102c and 102d. If the current does not return to normal, the short circuit is between power supply unit 101a and isolation device 1. Power reconfiguration is required. The power supply unit control module 202a sends a power reconfiguration request to the first isolation device control module 501.

[0166] If the second isolation device 1042 is disconnected, the power supply unit control module 202b determines that if the current returns to normal, the short circuit is between the isolation device 2 and the first isolation device 103. At this point, no power reconfiguration is required. The power supply unit 101b supplies power to the flight electric drive 102d, and the power supply unit 101a supplies power to the flight electric drives 102a and 102b. If the current does not return to normal, the short circuit is between the power supply unit 101b and the isolation device 2. Power reconfiguration is required. The power supply unit control module 202b sends a power reconfiguration request to the first isolation device control module 501.

[0167] If the first isolation device control module 501 receives no power reconfiguration request, it will remain disconnected. If any power reconfiguration request is a yes request, it will start power reconfiguration.

[0168] The first isolation device control module 501 controls the first isolation device 103 to close again, controls the output voltage to gradually increase without damaging components such as capacitors, reaches the battery voltage within T2, and then sends a message to the flight electric drive control module indicating that the power reconstruction result is completed.

[0169] After the flight electric drive control module receives a message indicating that the power reconfiguration result is complete and detects that the flight electric drive input voltage has returned to normal, it jumps from the fault state to the standby state. At this time, it responds to the restart command sent by the flight module and jumps from the standby state to the restart state. After the flight control module 401 detects that the flight electric drive control module has entered the restart state, it sends the flight electric drive target speed N to the flight electric drive control module. The flight electric drive control module responds to the target speed, controls the flight electric drive to operate at the target speed value, and sends the "flight electric drive actual speed" to the flight control module 401. After the flight control module 401 detects that the flight electric drive actual speed has reached the target speed, it sends a message to the flight electric drive indicating that the flight electric drive operating status is working. After receiving the message that the flight electric drive operating status is working, the flight electric drive jumps from the restart state to the working state, and the power reconfiguration is completed.

[0170] In one embodiment, as shown in FIG2 , using four power supply units and eight flight electric drives as an example, but not limited to this configuration, if a current short circuit is detected in the flight power system and the first isolation device 103 is initially closed, the first isolation device 103 is controlled to open, dividing the flight electric drive group into two parts. Flight electric drive group 1 and flight electric drive group 2 are connected to power supply units 101a and 101b, respectively, while flight electric drive group 3 and flight electric drive group 4 are connected to power supply units 101c and 101d. The current in each of the two circuits is then detected.

[0171] In one embodiment, if a short circuit occurs in the circuits containing flight electric drive group 1 and flight electric drive group 2, flight electric drive group 1 and flight electric drive group 2 are determined to be at least two flight electric drive groups to be screened. The second isolation device 104 between flight electric drive group 1 and flight electric drive group 2 is controlled to disconnect, and the circuit containing flight electric drive group 2 is disconnected. If the remaining flight electric drive group does not have a short circuit, that is, the circuit containing flight electric drive group 1 does not have a short circuit, flight electric drive group 2 is determined to be the flight electric drive group with a short circuit, and the power supply unit 101b connected to flight electric drive group 2 is controlled to stop supplying power to ensure that the power supply unit is not burned by the short-circuit current. If a short circuit occurs in the remaining flight electric drive group, the flight electric drive group with a short circuit is determined to be flight electric drive group 1, and the first isolation device 103 is closed to reconnect flight electric drive group 2 to the power supply unit, that is, flight electric drives 102c and 102d are connected to power supply units 101b, 101c, and 101d. Before closing the first isolation device 103 , it is also necessary to control the power supply unit 101 a connected to the flight electric drive group 1 to stop supplying power to ensure that the power supply unit is not burned by the short circuit.

[0172] In one embodiment, if a current short circuit occurs in the circuit where the flight electric drive group 3 and the flight electric drive group 4 are located, the flight electric drive group 3 and the flight electric drive group 4 are determined to be at least two groups of flight electric drive groups to be screened, and the second isolation device 104 between the flight electric drive group 3 and the flight electric drive group 4 is controlled to be disconnected. At this time, the circuit where the flight electric drive group 3 is located is disconnected. If there is no current short circuit in the flight electric drive group that is not disconnected, that is, there is no current short circuit in the circuit where the flight electric drive group 4 is located, the flight electric drive group 4 is determined to be the flight electric drive group that has a current short circuit, and the power supply unit 101d connected to the flight electric drive group 4 is controlled to stop supplying power to ensure that the power supply unit is not burned by the short-circuit current. If there is a current short circuit in the undisconnected flight electric drive group, it is determined that the flight electric drive group with the current short circuit is flight electric drive group 4, and the first isolation device 103 is closed to reconnect the flight electric drive group 3 with the power supply unit, that is, the flight electric drive group 3 is connected to the power supply unit 101a, the power supply unit 101b and the power supply unit 101c. Before closing the first isolation device 103, it is also necessary to control the power supply unit 101d connected to the flight electric drive group 4 to stop supplying power to ensure that the power supply unit is not burned by the short-circuit current.

[0173] In one embodiment, as shown in FIG5 , the power reconstruction control strategy is generally the same as the control strategy of two battery packs and four flight electric drives. It is only necessary to turn off the high voltage of the power supply unit on the reconstruction side before closing the first isolation device 103 .

[0174] In one embodiment, as shown in FIG3 , using three power supply units and four flight electric drives as an example, but not limited to this structure, if a current short circuit is detected in the flight power system and the first isolation device 103 is initially closed, the first isolation device 103 is controlled to open, dividing the flight electric drive group into two parts, with flight electric drive group 1 and flight electric drive group 2 connected to power supply units 101a and 101b, and flight electric drive group 3 and flight electric drive group 4 connected to power supply unit 101c. The current in the circuits containing the two flight electric drives is then detected separately.

[0175] In one embodiment, if a short circuit occurs in the circuits containing flight electric drive group 1 and flight electric drive group 2, flight electric drive group 1 and flight electric drive group 2 are determined to be at least two flight electric drive groups to be screened. The second isolation device 104 between flight electric drive group 1 and flight electric drive group 2 is controlled to open, and the circuit containing flight electric drive group 2 is disconnected. If the remaining flight electric drive group does not have a short circuit, that is, the circuit containing flight electric drive group 1 does not have a short circuit, flight electric drive group 2 is determined to be the flight electric drive group with a short circuit. Since flight electric drive group 2 is connected to a power supply unit, power supply unit 101b connected to flight electric drive group 2 is controlled to stop supplying power to ensure that the power supply unit is not burned by the short-circuit current. If a short circuit occurs in the remaining flight electric drive group, the flight electric drive group with a short circuit is determined to be flight electric drive group 1, and the first isolation device 103 is closed to reconnect flight electric drive group 2 to the power supply unit, that is, flight electric drive group 102b is connected to power supply unit 101b and power supply unit 101c. Before closing the first isolation device 103 , it is also necessary to control the power supply unit 101 a connected to the flight electric drive group 1 to stop supplying power to ensure that the power supply unit is not burned by the short circuit.

[0176] In one embodiment, if a current short circuit occurs in the circuit where the flight electric drive group 3 and the flight electric drive group 4 are located, the flight electric drive group 102c and the flight electric drive group 4 are determined to be at least two groups of flight electric drive groups to be screened, and the second isolation device 104 between the flight electric drive group 3 and the flight electric drive group 4 is controlled to be disconnected. At this time, the circuit where the flight electric drive group 3 is located is disconnected. If there is no current short circuit in the flight electric drive group that is not disconnected, that is, there is no current short circuit in the circuit where the flight electric drive group 4 is located, then the flight electric drive 102c is determined to be the flight electric drive group that has a current short circuit. If a current short circuit occurs in the undisconnected flight electric drive group, it is determined that the flight electric drive group with the current short circuit is the flight electric drive group where the flight electric drive 102d is located, and the first isolation device 103 is closed to reconnect the flight electric drive 102c to the power supply unit, that is, the flight electric drive 102c is connected to the power supply unit 101a. Before closing the first isolation device 103, it is also necessary to control the power supply unit 101b connected to the flight electric drive 102c to stop supplying power to ensure that the power supply unit is not burned by the short-circuit current.

[0177] In one embodiment, as shown in FIG6 , the power reconstruction control strategy is generally the same as the control strategy of two battery packs and four flight electric drives. It is only necessary to turn off the high voltage of the power supply unit on the reconstruction side before closing the first isolation device 103 .

[0178] In the technical solution of this embodiment, by controlling the opening or closing of the first isolation device 103 and the second isolation device 104, the flight electric drive group with a current short circuit is determined and the flight electric drive group with a current short circuit is isolated. By determining the flight electric drive group with a current short circuit and isolating it, the normal operation of the flight power system of the flying vehicle is guaranteed, and the remaining flight electric drive groups are controlled to continue operating, ensuring that the flight power system of the flying vehicle provides sufficient power to support the flight of the flying vehicle, avoiding the failure of the entire flight power system caused by a short circuit in a certain flight electric drive group, ensuring the stability of the power provided by the flight power system, and improving the safety of the flying vehicle.

[0179] The present application also provides a flight power system, which includes a memory, a processor, and a power reconstruction program stored in the memory and executable on the processor. When the power reconstruction program is executed by the processor, it implements the various steps of the power reconstruction method described in the above embodiment.

[0180] The present application also provides a computer-readable storage medium, which stores a power reconstruction program. When the power reconstruction program is executed by a processor, it implements the various steps of the power reconstruction method described in the above embodiment.

[0181] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0182] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, system, article, or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, system, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, system, article, or device comprising the element.

[0183] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment system can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a computer-readable storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, parking management equipment, air conditioner, or network equipment, etc.) to execute the system described in each embodiment of the present application.

[0184] The above are merely optional embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A flight power system, wherein: The flight power system comprises: Power supply unit; A flight electric drive group, wherein a plurality of flight electric drive groups are connected in parallel and connected to the power supply unit; An isolation device is provided on the line between each two adjacent groups of the flight electric drive groups, and is used to disconnect the connection between the two adjacent groups of the flight electric drive groups.

2. The flight power system according to claim 1, wherein: The isolation device includes a first isolation device and a second isolation device. The first isolation device is arranged on the line between two adjacent groups of the flight electric drive groups located in the middle, and the second isolation device is arranged on the line between the remaining two adjacent groups of the flight electric drive groups.

3. The flight power system according to claim 1, wherein: When the flight electric drive group includes at least two flight electric drives, each of the flight electric drive groups is connected to one of the power supply units.

4. The flight power system according to claim 1, wherein: When the number of the power supply units is less than the number of the flight electric drive groups, there are at least two groups of the flight electric drive groups connected to the same power supply unit; when the number of the power supply units is equal to the number of the flight electric drive groups, each group of the flight electric drive groups is connected to a different power supply unit.

5. The flight power system according to claim 1, wherein: The number of the power supply units is at least two, and the flight electric drive groups located at the edge positions are directly connected to the power supply units respectively.

6. A flight dynamics reconstruction method, wherein: Applied to the flight power system according to any one of claims 1 to 5, the flight power reconstruction method comprises: If a current short circuit is detected in the flight power system, the flight electric drive group where the current short circuit occurs is determined, and the flight electric drive group where the current short circuit occurs is isolated; Control the remaining flight electric drive groups to continue operating.

7. The flight dynamics reconstruction method according to claim 6, wherein: The step of determining the flight electric drive group where the current short circuit occurs and isolating the flight electric drive group where the current short circuit occurs comprises: The opening or closing of the isolation device is controlled to determine the flight electric drive group where the current short circuit occurs, and isolate the flight electric drive group where the current short circuit occurs.

8. The flight dynamics reconstruction method according to claim 7, wherein: The step of controlling the opening or closing of the isolation device comprises: When the initial state of the first isolation device is a closed state, controlling the first isolation device to be opened; Determining at least two groups of the flight electric drive groups to be screened; Controlling the second isolation device between at least two groups of the flight electric drive groups to be screened to be disconnected, so that the circuit where one group of the flight electric drive groups is located is disconnected; If there is no current short circuit in the circuit where the undisconnected flight electric drive group is located, it is determined that the flight electric drive group where the current short circuit occurs is the disconnected flight electric drive group.

9. The power reconstruction method according to claim 7, wherein: The step of controlling the opening or closing of the isolation device comprises: When the initial state of the first isolation device is the disconnected state, determining at least two groups of the flight electric drive groups to be screened; Controlling the second isolation device between at least two groups of the flight electric drive groups to be screened to be disconnected, so that the circuit where one group of the flight electric drive groups is located is disconnected; If there is no current short circuit in the circuit where the undisconnected flight electric drive group is located, it is determined that the flight electric drive group where the current short circuit occurs is the disconnected flight electric drive group.

10. The power reconstruction method according to claim 8 or 9, wherein: After the step of controlling the second isolation device between at least two groups of the flight electric drive groups to be screened to be disconnected, the method further includes: If the circuit where the undisconnected flight electric drive group is located still has a current short circuit, it is determined that the flight electric drive group where the current short circuit occurs is the undisconnected flight electric drive group; The first isolation device is controlled to close again.

11. The power reconstruction method according to claim 8 or 9, wherein: After the step of controlling the second isolation device between at least two groups of the flight electric drive groups to be screened to be disconnected, the method further includes: If there is no current short circuit in the circuit where the undisconnected flight electric drive group is located, it is determined that the flight electric drive group where the current short circuit occurs is the disconnected flight electric drive group; If the disconnected flight electric drive group is connected to a power supply unit, the power supply unit connected to the disconnected flight electric drive group is controlled to stop supplying power.

12. The power reconstruction method according to claim 8 or 9, wherein: After the step of controlling the second isolation device between at least two groups of the flight electric drive groups to be screened to be disconnected, the method further includes: If the circuit where the undisconnected flight electric drive group is located still has a current short circuit, it is determined that the flight electric drive group where the current short circuit occurs is the undisconnected flight electric drive group; controlling the first isolation device to close again; If the flight electric drive group that has not been disconnected is connected to a power supply unit, the power supply unit that has not been disconnected is controlled to stop supplying power.

13. A flight power system, wherein: The flight power system includes a memory, a processor, and a power reconstruction program stored in the memory and executable on the processor. When the power reconstruction program is executed by the processor, the various steps of the power reconstruction method as described in any one of claims 6 to 12 are implemented.

14. A computer-readable storage medium, wherein: The computer-readable storage medium stores a power reconstruction program, and when the power reconstruction program is executed by a processor, each step of the power reconstruction method according to any one of claims 6 to 12 is implemented.

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