电动固旋翼无人机动力系统建模与优化设计
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摘要
为解决电动固定翼四旋翼复合布局无人机(eHAV)动力系统设计选择缺乏相应理论方法的问题,提出了一套动力系统的建模和优化设计方法。通过推质比计算提出了动力系统需求,利用螺旋桨和旋翼理论建立了螺旋桨的设计和性能计算模型,通过统计分析和1阶电动机模型建立了无刷直流电动机的计算模型,通过电动机与电池电压、电流之间的关系建立了电池选择方法,在经过电压修正的放电特性经验公式基础上建立了无人机航时计算方法。根据动力系统匹配方法,建立了动力系统优化设计流程。对某电动固旋翼无人机动力系统进行了优化设计和选择,结果表明:所建螺旋桨和旋翼模型计算结果与CFD结果的误差在10%以内,电池放电模型与试验数据的拟合度在0.97以上,飞行测试结果表明所提方法选择的动力系统使得无人机航时测试值与设计值误差小于4%,证明了该方法有较高的准确性和可行性。
A modeling and optimal design method of power system was proposed to solve the problem of lack in theoretical method for power system design and selection of electric fixed-wing quadrotor hybrid unmanned aerial vehicle(eHAV).The need of power system was proposed by calculating the thrust-to-mass ratio.The models of propeller design and performance calculation were established using propeller and rotor theories.The brushless permanent magnet DC electric motor was modeled using statistic method and first order motor model.The relations of voltage and current between motor and battery were used to establish the battery selection method.A fully empirical model for battery discharge characteristics with voltage correction was used to calculate the endurance of eHAV.The optimal design flow of power system was established based on the matching method.The power system of an eHAV was optimized and selected.The results showed that the errors between the proposed rotor and propeller models and CFD method were less than 10%,and the fitting degree between the discharge model and the experimental data was greater than 0.97.The flight test showed that the error of endurance between the flight test result and the design value was less than 4%,verifying the correction and feasibility of the method of power system modeling and optimal design.
A modeling and optimal design method of power system was proposed to solve the problem of lack in theoretical method for power system design and selection of electric fixed-wing quadrotor hybrid unmanned aerial vehicle(eHAV).The need of power system was proposed by calculating the thrust-to-mass ratio.The models of propeller design and performance calculation were established using propeller and rotor theories.The brushless permanent magnet DC electric motor was modeled using statistic method and first order motor model.The relations of voltage and current between motor and battery were used to establish the battery selection method.A fully empirical model for battery discharge characteristics with voltage correction was used to calculate the endurance of eHAV.The optimal design flow of power system was established based on the matching method.The power system of an eHAV was optimized and selected.The results showed that the errors between the proposed rotor and propeller models and CFD method were less than 10%,and the fitting degree between the discharge model and the experimental data was greater than 0.97.The flight test showed that the error of endurance between the flight test result and the design value was less than 4%,verifying the correction and feasibility of the method of power system modeling and optimal design.
引文
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[2]Gü?Lü A,ARIKAN B K,KURTULUS D F.Attitude and altitude stabilization of fixed wing VTOL unmanned air vehicle[R].AIAA-2016-3378,2016.
[3]DEWI P T,HADI G S,MUHAMMAD R K,et al.Design of separate lift and thrust hybrid unmanned aerial vehicle[J].The Journal of Instrumentation,Automation and Systems,2015,2(2):45-51.
[4]赵长辉,杨五兵,李波,等.固定翼四旋翼复合飞行器[C]∥2014(第五届)中国无人机大会论文集.北京:航空工业出版社,2014:39-44.
[5]康桂文,胡雨,李亚东,等.超轻型电动飞机电动力系统的参数匹配[J].航空动力学报,2013,28(12):2641-2647.KANGGuiwen,HU Yu,LI Yadong,et al.Parameters matching of ultralight electric aircraft propulsion system[J].Journal of Aerospace Power,2013,28(12):2641-2647.(in Chinese)
[6]王刚,胡峪,宋笔锋,等.电动无人机动力系统优化设计及航时评估[J].航空动力学报,2015,30(8):1834-1840.WANG Gang,HU Yu,SONG Bifeng,et al.Optimal design and endurance estimation pf propulsion system for electricpowered unmanned aerial vehicle[J].Journal of Aerospace Power,2015,30(8):1834-1840.(in Chinese)
[7]MCDONALD R A.Electric propulsion modeling for conceptual aircraft design[R].AIAA 2014-0536,2014.
[8]CORRIGAN E K,ALTMAN A.Survey of small unmanned aerial vehicle electric propulsion system[R].AIAA 2008-179,2008.
[9]GUR O,ROSEN A.Optimizing electric propulsion systems for unmanned aerial vehicles[J].Journal of Aircraft.2009,46(4):1340-1353.
[10]LAWRENCE D A,MOHSENI K.Efficiency analysis for long duration electric MAVs[R].AIAA 2005-7090,2005.
[11]陈军,杨树兴,莫雳.电动无人机动力系统建模与实验[J].航空动力学报.2009,24(6):1339-1344.CHEN Jun,YANG Shuxing,MO Li.Modeling and experimental analysis of UAV electric propulsion system[J].Journal of Aerospace Power,2009,24(6):1339-1344.(in Chinese)
[12]MAGNUSSEN O,HOVLAND G,OTTESTAD M.Multicopter UAV design optimization[C]∥IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications.Ancona:IEEE,2014:1-6.
[13]全权.多旋翼飞行器设计与控制[M].北京:电子工业出版社,2018.
[14]CHEN Ming,RINCON-MORA G A.Accurate electrical battery model capable of predicting runtime and I-V performance[J].IEEE Transactions on Energy Conversion.2006,21(2):504-511.
[15]卢杰祥.锂离子电池特性建模与SOC估算研究[D].广州:华南理工大学,2012.LU Jiexiang.Research on the performance model and prediction of state-of-charge for Li-ion battery[D].Guangzhou:South China University of Technology,2012.(in Chinese)
[16]NG W,DATTA A.Development of models for electrochemical power and sizing of electric-VTOL aircraft[R].Florida:2018AIAA Aerospace Sciences Meeting,2018.
[17]FULLER M E.A battery model for constant-power discharge including rate effects[J].Energy Conversion&Management,2014,88:199-205.
[18]RAYMER D P.Aircraft design:a conceptual approach,4th edition[M].Reston:AIAA Education Series,1992.
[19]刘沛清.空气螺旋桨理论及其应用[M].北京:北京航空航天大学出版社,2006.
[20]曹义华.现代直升机旋翼空气动力学[M].北京:北京航空航天大学出版社,2015.
[21]HANSELMAN D.Brushless permanent-magnet motor design[M].Orono:McGraw-Hill,2003.
[22]王刚.一种螺旋桨动力配平的小型电动无尾无人机研究[D].西安:西北工业大学,2016.WANG Gang.A research on a small electric-powered tailless UAV using propeller thrust trimming[D].Xi'an:Northwestern Polytechnical University,2016.(in Chinese)
[23]SHEPHERD C M.Design of primary and secondary cellsⅡ:an equation describing battery discharge[J].Journal of the Electrochemical Society.1965,112(7):657-664.
[24]陈声麒.飞艇推进系统参数优化匹配与验证方法研究[D].西安:西北工业大学,2015.CHEN Shenqi.Parameters optimization matching and verification study of high efficiency propeller propulsion system of high altitude airship[D].Xi'an:Northwestern Polytechnical University,2015.(in Chinese)