Numerical investigation on the energy management strategies of a series hybrid unmanned multirotor aerial vehicle
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摘要:
以最大输出功率为14.9 kW、功质比为2.8的活塞发动机作为主动力源搭建了多旋翼无人机准静态飞行串联混合动力系统功率模型，针对最大起飞质量80 kg级的多旋翼无人机进行了飞行性能模拟计算，重点比较不同能量管理策略的节油效果，并进一步探索多旋翼无人机起飞电池容量和燃油量对经济性和续航能力的影响。结果表明：在荷电状态保持约束下，减少电池上的能量损耗能够降低混动无人机油耗，且最小等效能量消耗策略表现较好；短航时条件下一定比例的电池容量有利于节油，但长航时条件下所用电池能量比例越大，油耗越大，系统经济性越差；载重越大，任务时间越短，则系统的燃油经济性越好。
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关键词:
- 串联混动 /
- 多旋翼无人机 /
- 最小等效能量消耗策略 /
- 能量管理 /
- 动态规划
Abstract:Hybrid power system for UAV (unmanned aerial vehicle) based on a two-stroke engine with a maximum power of 14.9 kW and a power-to-mass ratio of 2.8 was investigated. An in-house quasi-static UAV model including the series hybrid powertrain system and different energy management strategies was developed to characterize the performance of a multi-rotor UAV with 80 kg maximum takeoff weight. The UAV performance was compared using two different energy management strategies and dynamic-programing optimal solutions, then the effects of payloads and battery energies on the fuel consumption and flight duration of an UAV with defined flight profiles were investigated. It was found that an ideal energy management strategy should avoid high-power battery charging and discharging resulting in less power loss of the battery system, and that Equivalent Consumption Minimum Strategy exhibited lower fuel consumption than Rule-Based Strategy. The fuel consumption increased by using more battery energy in a long flight mission due to the low energy density of the battery, while larger payload and shorter flight duration led to higher system efficiency. Despite of anticipated increment in battery power density in the future, hybrid UAVs still exhibit longer flight duration capability than the electrical ones.
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图 5 波动工况下发电系统功率和电池SOC变化
Figure 5. Power and
$ {C}_{\mathrm{S}\mathrm{O}\mathrm{C}} $ profile of the hybrid propulsion system under fluctuation
图 6 平稳工况下发电系统功率和电池SOC变化
Figure 6. Power and
$ {C}_{\mathrm{S}\mathrm{O}\mathrm{C}} $ profile of the hybrid propulsion system under steady working condition
图 7 平稳工况和波动工况下两种不同能量管理策略和动态规划下的电池功率损耗变化
Figure 7. Battery power loss results obtained using two different energy management and dynamic programming under steady condition and fluctuation condition
图 8 平稳工况和波动工况下两种不同能量管理策略和动态规划下的发动机比油耗变化
Figure 8. Engine specific fuel consumption profile obtained using two different energy management strategies and dynamic programming under steady condition and fluctuation condition
图 10 不同电池、飞行时间和载质量条件下总油耗变化
Figure 10. Net fuel consumption change as battery set, flight time, and payload vary
图 11 不同电池质量和载质量下无人机性能对比
Figure 11. UAV Performance comparison under different battery set and payload
表 1 旋翼模型相关参数
Table 1. Propeller model parameters
参数 数值 桨盘直径Dp/m 0.72 螺距Hp/m 0.30 桨叶数Bp 2 展弦比A 5 Oswald因子e 0.83 零升阻力系数Cfd 0.015 
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表 2 电动机、电调模型相关参数
Table 2. Motor and ESC model parameters
参数 数值 电动机Kv值Kv0/（r/（min∙V）） 172 电动机标称空载电压Um0/V 44 电动机标称空载电流Im0/A 1.65 电动机内阻Rm/Ω 0.021 电调内阻Re/Ω 0 发电系统等效内阻Rn/Ω 0.1 动力电路电压Un/V 60
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表 3 DA215型发动机部分参数
Table 3. Basic properties of DA215 pistol engine
参数 数值 最大功率/kW 14.9 压缩比 7.6 发动机主体质量/g 4950 最低比油耗/ （g/（kW·h）） 552
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表 4 波动工况下总油耗和发动机平均功率对比
Table 4. Comparison of average engine power and net fuel consumption under fluctuation
策略 油耗/kg 发动机平均功率/W Rule-Based 1.366 11075 DP 1.285 10490 ECMS 1.340 10911
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表 5 平稳工况下总油耗和发动机平均功率对比
Table 5. Comparison of average engine power and net fuel consumption under steady working condition
策略 油耗/kg 发动机平均功率/W Rule-Based 1.099 10200 DP 1.013 9470 ECMS 1.062 9870
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