燃料电池无人机能源管理与飞行状态耦合
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摘要
开展了燃料电池/锂电池(简称燃锂)混合动力无人机的能源管理与飞行状态耦合研究。综合顶层飞行任务规划与底层能源系统管理,以动力系统模型为耦合点联立能源系统与无人机运动方程,建立能源状态与运动状态耦合模型。针对燃锂混合最紧密的爬升过程,以迎角、转速和燃料电池的放电功率作为控制变量,建立了燃料消耗最小的能源管理与航迹规划耦合最优控制问题,研究不同爬升高度对最优控制过程的影响,并与模糊控制能源管理策略进行对比分析。针对大功率短时爬升和小功率长时巡航的典型任务特点,建立了燃锂最优混合问题。研究了最优的锂电池容量和燃料电池功率水平的混合量,以及爬升和巡航两阶段最优功率分配和飞行状态,分析了不同巡航目标高度对最优混合量和飞行状态的影响。结果表明:采用能源与航迹耦合的最优控制策略在给出最优功率流分配的同时,能够很好地兼顾飞行状态控制;对燃锂混合和飞行状态的综合优化可以有效地处理爬升和巡航阶段的能源需求矛盾,在给出最优燃锂混合量和飞行状态的同时,降低整个任务过程的燃料消耗。
The coupling effect of energy management and flight state control of the fuel cell and battery of UAVs are investigated.Considering the top-level mission planning and the underlying energy system management,the propulsion system model is used as the coupling point to join the flight motion equation and the energy system state equation to establish the coupled model of motion state and energy state.For the climb process with high degree of mixing fuel cell and battery,the angle of attack,rotational speed,and fuel cell power are used as the control variables to study the influence of flight target altitude on the optimal control problem for the integrated path planning and energy management.The established control strategy is compared with a fuzzy control energy management strategy that only considering the state of the energy system.Based on the typical task characteristics of high-power short-term climb and low-power long-time cruise,the optimal hybrid problem of fuel cell/battery is established.The optimal hybrid of fuel cell and battery with the optimal power distribution and flight control are derived.The influence of different cruise target altitudes on optimal hybrid fuel cell/battery and flight state is analyzed.The results show that the proposed coupling optimal control strategy considering both energy system and path planning can provide a good flight state control while giving optimal power flow distribution.Considering the characteristics of longterm low-power cruise and short-time high-power climb,the optimization results of hybrid fuel cell/battery and flight state control present optimal flight state while reducing fuel consumption throughout the mission.
The coupling effect of energy management and flight state control of the fuel cell and battery of UAVs are investigated.Considering the top-level mission planning and the underlying energy system management,the propulsion system model is used as the coupling point to join the flight motion equation and the energy system state equation to establish the coupled model of motion state and energy state.For the climb process with high degree of mixing fuel cell and battery,the angle of attack,rotational speed,and fuel cell power are used as the control variables to study the influence of flight target altitude on the optimal control problem for the integrated path planning and energy management.The established control strategy is compared with a fuzzy control energy management strategy that only considering the state of the energy system.Based on the typical task characteristics of high-power short-term climb and low-power long-time cruise,the optimal hybrid problem of fuel cell/battery is established.The optimal hybrid of fuel cell and battery with the optimal power distribution and flight control are derived.The influence of different cruise target altitudes on optimal hybrid fuel cell/battery and flight state is analyzed.The results show that the proposed coupling optimal control strategy considering both energy system and path planning can provide a good flight state control while giving optimal power flow distribution.Considering the characteristics of longterm low-power cruise and short-time high-power climb,the optimization results of hybrid fuel cell/battery and flight state control present optimal flight state while reducing fuel consumption throughout the mission.
引文
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[21]CORCAU J I,DINCA L,GRIGORIE T L,et al.Fuzzy energy management for hybrid fuel cell/battery systems for more electric aircraft[J].AIP Conference Proceedings,2017,1836:020056.
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[23]HOSSEINI S,RAN D,MESBAHI M.Optimal path planning and power allocation for a long endurance solarpowered UAV[C]∥2013 American Control Conference(ACC),2013.
[24]HOSSEINI S,MESBAHI M.Energy-aware aerial surveillance for a long-endurance solar-powered unmanned aerial vehicles[J].Journal of Guidance,Control,and Dynamics,2016,39(9):1980-1993.
[25]EDWARDS D J,KAHN A D,KELLY M,et al.Maximizing net power in circular turns for solar and autonomous soaring aircraft[J].Journal of Aircraft,2016,53(5):1237-1247.
[26]GAO X Z,HOU Z X,GUO Z,et al.The equivalence of gravitational potential and rechargeable battery for highaltitude long-endurance solar-powered aircraft on energy storage[J].Energy Conversion and Management,2013,76:986-995.
[27]GAO X Z,HOU Z X,GUO Z,et al.Energy management strategy for solar-powered high-altitude long-endurance aircraft[J].Energy Conversion and Management,2013,70:20-30.
[28]马东立,包文卓,乔宇航.基于重力储能的太阳能飞机飞行轨迹研究[J].航空学报,2014,35(2):408-416.MA D L,BAO W Z,QIAO Y H.Study of flight path for solar-powered aircraft based on gravity energy reservation[J].Acta Aeronautica et Atronautica Sinica,2014,35(2):408-416(in Chinese).
[29]ZHENG C H,KIM N W,CHA S W.Optimal control in the power management of fuel cell hybrid vehicles[J].International Journal of Hydrogen Energy,2012,37(1):655-663.
[30]ZHOU M,PRASAD J V R.Transient characteristics of a fuel cell powered UAV propulsion system[J].Journal of Intelligent&Robotic Systems,2014,74(1):209-220.
[31]ZHOU M,PRASAD J V R.Transient characteristics of a fuel cell powered UAV propulsion system[C]∥2013International Conference on Unmanned Aircraft Systems(ICUAS),2013.
[32]HUNG J Y C.Investigation of methods for increasing the energy efficiency on unmanned aerial vehicles[D].Queensland:Queensland University of Technology,2011:41-56.
[33]ZHANG X H,LIU L,DAI Y L,et al.Experimental investigation on the online fuzzy energy management of hybrid fuel cell/battery power system for UAVs[J].International Journal of Hydrogen Energy,2018,43(21):10094-10103.
[2]GONG A,VERSTRAETE D.Design and bench test of a fuel-cell/battery hybrid UAV propulsion system using metal hydride hydrogen storage:AIAA-2017-4867[R].Reston,VA:AIAA,2017.
[3]马铁林,郝帅,甘文彪.氢动力超长航时无人机关键技术及研究进展[C]∥第二届中国航空科学技术大会论文集.北京:国防工业出版社,2015:1-6.MA T L,HAO S,GAN W B.Review of key technologies for hydrogen energy powered long-endurane UAVs[C]∥Proceedings of the 2nd China Aeronautical Science and Technology Conference.Beijing:National Defence Industry Press,2015:1-6(in Chinese).
[4]杨慧君,邓卫国,关世义,等.新型长航时燃料电池战术无人航空系统-XFC无人机[J].飞航导弹,2014(7):32-38.YANG H J,DENG W G,GUAN S Y,et al.Novel longendurance fuel cell tactical unmanned aerial system-XFCUAV[J].Aerodynamic Missile Journal,2014(7):32-38(in Chinese).
[5]BRADLEY T H.Modeling,design and energy management of fuel cell systems for aircraft[D].Atlanta,GA:Georgia Institute of Technology,2008:31-103.
[6]BRADLEY T H,MOFFITT B A,FULLER T F,et al.Comparison of design methods for fuel-cell-powered unmanned aerial vehicles[J].Journal of Aircraft,2009,46(6):1945-1956.
[7]MOFFITT B A.A methodology for the validated design space exploration of fuel cell powered unmanned aerial vehicles[D].Atlanta,GA:Georgia Institute of Technology,2010:48-82.
[8]许震宇,李斌.某型燃料电池无人机结构设计[J].玻璃钢/复合材料,2010(6):55-58.XU Z Y,LI B.Structural design of a certain type of fuel cell UAV[J].Fiber Reinforced Plastics/Composites,2010(6):55-58(in Chinses).
[9]许震宇,卢强.燃料电池轻型飞机起飞质量估算方法[J].飞机设计,2011,31(3):6-8.XU Z Y,LU Q.Takeoff mass estimation method of light fuel cell powered aircraft[J].Aircraft Design,2011,31(3):6-8(in Chinese).
[10]PANDE D,VERSTRAETE D.Impact of solar cell characteristics and operating conditions on the sizing of a solar powered nonrigid airship[J].Aerospace Science and Technology,2018,72:353-363.
[11]VERSTRAETE D,GONG A,LU D D C,et al.Experimental investigation of the role of the battery in the AeroStack hybrid,fuel-cell-based propulsion system for small unmanned aircraft systems[J].International Journal of Hydrogen Energy,2015,40(3):1598-1606.
[12]VERSTRAETE D,LEHMKUEHLER K,GONG A,et al.Characterisation of a hybrid,fuel-cell-based propulsion system for small unmanned aircraft[J].Journal of Power Sources,2014,250:204-211.
[13]张晓辉,刘莉,戴月领,等.燃料电池无人机动力系统方案设计与试验[J].航空学报,2018,39(8):221874.ZHANG X H,LIU L,DAI Y L,et al.Design and test of propulsion system for fuel cell powered UAVs[J].Acta Aeronautica et Astronautica Sinica,2018,39(8):221874(in Chinese).
[14]LI Y P,LIU L,MA X W,et al.Design of hybrid electric propulsion system for long endurance small UAV[C]∥10th International Energy Conversion Engineering Conference,2012.
[15]李延平.太阳能/氢能混合动力小型无人机总体设计[D].北京:北京理工大学,2014:44-71.LI Y P.Conceptual design for solar/hydrogen hybrid powered small-scale UAV[D].Beijing:Beijing Institute of Technology,2014:44-71(in Chinese).
[16]李延平,刘莉.太阳能/氢能混合动力无人机及关键技术[J].飞航导弹,2014(7):39-45.LI Y P,LIU L.Key technology of solar/hydrogen hybrid powered small-scale UAV[J].Aerodynamic Missile Journal,2014(7):39-45(in Chinese).
[17]ZHANG X H,LIU L,XU G T,et al.Energy management strategy of hybrid PEMFC-PV-battery propulsion system for low altitude UAVs:AIAA-2016-5109[R].Reston,VA:AIAA,2016.
[18]刘莉,杜孟尧,张晓辉,等.太阳能/氢能无人机总体设计与能源管理策略研究[J].航空学报,2016,37(1):144-162.LIU L,DU M Y,ZHANG X H,et al.Conceptual design and energy management strategy for UAV with hybrid solar and hydrogen energy[J].Acta Aeronautica et Atronautica Sinica,2016,37(1):144-162(in Chinese).
[19]KARUNARATHNE L.An intelligent power management system for unmanned aerial vehicle propulsion applications[D].Cranfield:Cranfield University,2012:107-128.
[20]KARUNARATHNE L,ECONOMOU J T,KNOWLESK.Power and energy management system for fuel cell unmanned aerial vehicle[J].Journal of Aerospace Engineering,2012,226(4):437-454.
[21]CORCAU J I,DINCA L,GRIGORIE T L,et al.Fuzzy energy management for hybrid fuel cell/battery systems for more electric aircraft[J].AIP Conference Proceedings,2017,1836:020056.
[22]杨明明.燃料电池无人机电源管理系统的研究[D].沈阳:沈阳航空航天大学,2015:41-52.YANG M M.Research on power management system of fuel cell UAV[D].Shenyang:Shenyang Aerospace University,2015:41-52(in Chinese).
[23]HOSSEINI S,RAN D,MESBAHI M.Optimal path planning and power allocation for a long endurance solarpowered UAV[C]∥2013 American Control Conference(ACC),2013.
[24]HOSSEINI S,MESBAHI M.Energy-aware aerial surveillance for a long-endurance solar-powered unmanned aerial vehicles[J].Journal of Guidance,Control,and Dynamics,2016,39(9):1980-1993.
[25]EDWARDS D J,KAHN A D,KELLY M,et al.Maximizing net power in circular turns for solar and autonomous soaring aircraft[J].Journal of Aircraft,2016,53(5):1237-1247.
[26]GAO X Z,HOU Z X,GUO Z,et al.The equivalence of gravitational potential and rechargeable battery for highaltitude long-endurance solar-powered aircraft on energy storage[J].Energy Conversion and Management,2013,76:986-995.
[27]GAO X Z,HOU Z X,GUO Z,et al.Energy management strategy for solar-powered high-altitude long-endurance aircraft[J].Energy Conversion and Management,2013,70:20-30.
[28]马东立,包文卓,乔宇航.基于重力储能的太阳能飞机飞行轨迹研究[J].航空学报,2014,35(2):408-416.MA D L,BAO W Z,QIAO Y H.Study of flight path for solar-powered aircraft based on gravity energy reservation[J].Acta Aeronautica et Atronautica Sinica,2014,35(2):408-416(in Chinese).
[29]ZHENG C H,KIM N W,CHA S W.Optimal control in the power management of fuel cell hybrid vehicles[J].International Journal of Hydrogen Energy,2012,37(1):655-663.
[30]ZHOU M,PRASAD J V R.Transient characteristics of a fuel cell powered UAV propulsion system[J].Journal of Intelligent&Robotic Systems,2014,74(1):209-220.
[31]ZHOU M,PRASAD J V R.Transient characteristics of a fuel cell powered UAV propulsion system[C]∥2013International Conference on Unmanned Aircraft Systems(ICUAS),2013.
[32]HUNG J Y C.Investigation of methods for increasing the energy efficiency on unmanned aerial vehicles[D].Queensland:Queensland University of Technology,2011:41-56.
[33]ZHANG X H,LIU L,DAI Y L,et al.Experimental investigation on the online fuzzy energy management of hybrid fuel cell/battery power system for UAVs[J].International Journal of Hydrogen Energy,2018,43(21):10094-10103.
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