一种长航时多旋翼燃料电池无人机的总体设计

张广孟; 李增山; 阳柳; 任科轩; 杨芳营; 王康

doi:10.13224/j.cnki.jasp.20230551

一种长航时多旋翼燃料电池无人机的总体设计

doi: 10.13224/j.cnki.jasp.20230551

张广孟^{1, 2,},
李增山¹,
阳柳^1,*, ,,
任科轩¹,
杨芳营¹,
王康¹

1.
北京长征天民高科技有限公司，北京 100076
2.
航天新长征电动汽车技术有限公司，北京 102615

详细信息

作者简介:
张广孟（1985-），男，高级工程师，博士，主要研究领域为低温工程、氢能与燃料电池系统。E-mail：guangmeng09182411@163.com

通讯作者:
阳柳（1998-），女，硕士，主要研究领域为低温工程、氢能与燃料电池系统。E-mail：yangliu984@163.com

中图分类号: V279
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出版历程
- 收稿日期: 2023-09-01
- 网络出版日期: 2025-07-03

Overall design of long-endurance multi-rotor fuel cell UAV

1.
Beijing Long March Tianmin Hi-Tech Company Limited，Beijing 100076，China
2.
Aerospace New Long March Electric Vehicle Technology Company Limited，Beijing 102615，China

摘要

摘要:
针对多旋翼无人机现存问题及实际长续航的应用需求，提出设计了一种以燃料电池作为主要供电装置，锂电池作为辅助电源的长航时多旋翼燃料电池无人机总体设计方案。基于有限元分析方法，选择了机体结构、确定了机臂长度和直径等结构参数，设计了结构合理的燃料电池储氢系统搭载平台。搭建了“燃料电池+锂电池”混合电源系统，通过公理设计精简了混动系统拓扑结构。根据设计方案，完成了无人机系统集成，开展了无人机空载、带载及续航能力等飞行试验，验证了混合动力系统及其控制策略以及散热模块的综合性能。经实际测试，无人机整机质量为37.95 kg，有效载荷能力为10 kg、载荷任务系统后续航时间可达到4 h20 min，符合预期设计效果。
- 多旋翼无人机 /
- 氢燃料电池 /
- 轻量化 /
- 长续航 /
- 总体设计
Abstract:
In view of the existing problems and application requirements of long endurance, an overall design scheme of long-endurance multi-rotor fuel cell UAVs with fuel cell as the main power supply device and lithium battery as auxiliary power supply device was proposed. Based on the finite element analysis method, the structure of the body was selected, the structural parameters such as the length and diameter of the arm were determined, and a reasonable fuel cell hydrogen storage system platform was designed. The “fuel cell + lithium battery” hybrid power system was constructed, and the topology of the hybrid system was simplified through axiomatic design. According to the design scheme, the UAV system integration was completed, the test flight tests of the UAV no-load flight, load capacity and endurance were carried out, and the comprehensive performance of the hybrid power system and its control strategy and heat dissipation module were verified. After actual testing, the weight of the UAV was 37.95 kg, the payload capacity was 10 kg, and the endurance time after loading the payload task system can reach 4 hours and 20 minutes, which can meet the expected design effect.
- multi-rotor UAV /
- PEMFC (proton exchange membrane fuel cell) /
- lightweight /
- long endurance /
- overall design

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图 1 无人机总体布局

Figure 1. Overall layout of the UAV

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图 2 无人机主体结构设计技术路线

Figure 2. Design technical route of the UAV main structure

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图 3 无人机承重框架与机臂

Figure 3. Load-bearing frame and arm of the UAV

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图 4 力臂变形图

Figure 4. Deformation diagram of the force arm

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图 5 力臂应力图

Figure 5. Stress diagram of the force arm

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图 6 电动机地面拉力试验

Figure 6. Ground tension test of the motor

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图 7 燃料电池供电系统拓扑结构

Figure 7. Topology of the hybrid power system

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图 8 金属双极板设计图

Figure 8. Design of the metal bipolar plate

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图 9 端板镂空结构拓扑分析

Figure 9. Topological analysis of hollow structure of end plate

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图 10 燃料电池电堆系统

Figure 10. Fuel cell stack system

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图 11 储氢系统的设计

Figure 11. Design of the hydrogen storage system

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图 12 储氢系统原理图

Figure 12. Schematic diagram of hydrogen storage system

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图 13 气瓶缠绕层结构

Figure 13. Winding layer structure of the gas cylinder

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图 14 气瓶变形及应力云图

Figure 14. Gas cylinder deformation and stress contours

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图 15 气瓶爆破试验前后照片

Figure 15. Picture Before and after the gas cylinder bursting test

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图 16 瓶口阀实物

Figure 16. Physical object of the bottle mouth valve

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图 17 混动系统控制原理

Figure 17. Control schematic of the hybrid power system

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图 18 系统控制响应测试结果

Figure 18. System control response test results

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图 19 导航模块设计

Figure 19. Design of the navigation module

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图 20 飞行控制系统设计

Figure 20. Design of flight control system

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图 21 无人机串级控制框图

Figure 21. Block diagram of the UAV cascade control

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图 22 无人机系统静态试验

Figure 22. Static test of UAV system

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图 23 无人机带载续航飞行试验

Figure 23. Endurance flight test with payload of the UAV

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图 24 无人机带载续航试验数据-输出功率

Figure 24. Test data of UAV on-load endurance test - output power

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图 25 无人机带载续航试验数据-系统温度

Figure 25. Test data of UAV on-load endurance test-system temperature

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表 1 无人机设计性能参数

Table 1. UAV design performance parameters

参数	性能要求
载荷能力	≥10 kg
系统相对湿度范围	5%（RH）～95%（RH）
续航时间	≥4 h
系统温度范围	−15～55 ℃

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表 2 主体结构参数

Table 2. Parameter of body structure mm

参数	数值
机体轴距	2200
整体高度	730
整体直径	2500

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表 3 电动机参数

Table 3. Parameters of the motor

参数	数值
KV值	90
额定拉力/g	8500
最大连续电流/（A/180 s）	40
支持电压/V	≤120
最大功率/W	1500

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表 4 电调主要参数

Table 4. Main parameters of the electronic governor

参数	数值或说明
型号	120 V-80 A
支持锂电池节数	28
PWM输入信号电平/V	3.3/5兼容
最大持续工作电流/A	80
最大瞬间电流/A	100
油门脉宽/us	1050～1 940

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表 5 混合动力系统设计参数

Table 5. Design parameters of the hybrid power system

系统	参数	数值
锂电池	电池容量/mAh	3400
	最大充电电流/A	17
	放电倍率	75
燃料电池	电堆额定功率/kW	4
燃料电池	电堆尺寸/cm	≤3×32×17
混合动力系统	系统质量/ kg	≤11.5
	电压范围/V	50～100
	系统峰值功率/kW	≥6.5
	系统温度范围/℃	−15～55
	相对湿度范围/%	5～95（RH）

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表 6 储氢系统技术参数

Table 6. Technical parameters of the hydrogen storage system

参数	数值
系统质量/kg	≥14.5（不含氢气）
气瓶容积/L	60
工作压力/MPa	35
供氢压力/kPa	50～70
工作流量/（m³/min）	0.001～0.1

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表 7 飞行试验环境条件

Table 7. Environmental conditions of flight tests

参数	数值
环境温度/℃	33.3
相对湿度/%	30
无人机起飞海拔/m	1000
环境风速/（m/s）	1.5

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