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CN-121990206-A - Methanol fuel-based hybrid unmanned aerial vehicle low-temperature self-starting control method, equipment and product

CN121990206ACN 121990206 ACN121990206 ACN 121990206ACN-121990206-A

Abstract

The application provides a methanol fuel-based hybrid unmanned aerial vehicle low-temperature self-starting control method, equipment and a product, and relates to the technical field of unmanned aerial vehicle control. The method comprises the steps of obtaining state parameters representing the current state of a methanol fuel cell in the hybrid unmanned aerial vehicle when the hybrid unmanned aerial vehicle is in a low-temperature state, controlling the lithium cell in the hybrid unmanned aerial vehicle to preheat the methanol fuel cell according to the state parameters through a preset preheating strategy, and controlling the lithium cell to stop preheating and starting the methanol fuel cell when the methanol fuel cell meets preset conditions. Therefore, the problem that the traditional methanol fuel-based hybrid unmanned aerial vehicle has insufficient energy utilization rate in starting control under a low-temperature environment can be solved.

Inventors

  • LI WEI

Assignees

  • 焯尔科技(湖州)有限公司

Dates

Publication Date
20260508
Application Date
20260214

Claims (9)

  1. 1. The low-temperature self-starting control method of the hybrid unmanned aerial vehicle based on the methanol fuel is characterized by comprising the following steps of: When the hybrid unmanned aerial vehicle is in a low-temperature state, acquiring state parameters representing the current state of a methanol fuel cell in the hybrid unmanned aerial vehicle; According to the state parameters, a preheating strategy is preset, and the lithium battery in the hybrid unmanned aerial vehicle is controlled to preheat the methanol fuel cell; And when the methanol fuel cell meets the preset condition, controlling the lithium battery to stop preheating, and starting the methanol fuel cell.
  2. 2. The method of claim 1, wherein controlling the lithium battery in the hybrid unmanned aerial vehicle to preheat the methanol fuel cell according to the state parameter by a preset preheating strategy comprises: When the hybrid unmanned aerial vehicle is in a low-temperature state, determining the predicted energy required by the methanol fuel cell to finish preheating according to the battery temperature and the battery heat capacity in the state parameters; Determining the predicted time length required by the methanol fuel cell to finish preheating according to the predicted energy and the heating working power of the lithium battery; And controlling the lithium battery to heat the methanol fuel cell with the heating working power, wherein the heating duration is the predicted duration.
  3. 3. The method according to claim 2, wherein the preset condition is that the current temperature of the methanol fuel cell is equal to or higher than a preset temperature, or that the heating time period is equal to or longer than the predicted time period.
  4. 4. The method according to claim 1, wherein controlling the lithium battery to stop warm-up and start the methanol fuel battery when the methanol fuel battery satisfies a preset condition, comprises: when the methanol fuel cell meets preset conditions, controlling the lithium battery to stop preheating; acquiring the idle power and the load power of the hybrid unmanned aerial vehicle; Determining a first output power of the methanol fuel cell according to the idle power, and controlling the methanol fuel cell to operate at the first output power; And determining a second output power of the methanol fuel cell and a third output power of the lithium battery according to the load power, and controlling the methanol fuel cell to operate at the second output power and the lithium battery to operate at the third output power.
  5. 5. The method of claim 4, wherein determining a first output power of the methanol fuel cell based on the idle power and controlling the methanol fuel cell to operate at the first output power comprises: Determining that the first output power increases from an initial value of zero to the idle power at a first preset increasing speed according to the idle power; And controlling the methanol fuel cell to continuously operate at the first output power in the process of increasing the first output power.
  6. 6. The method of claim 4, wherein determining a second output power of the methanol fuel cell and a third output power of the lithium battery based on the load power and controlling the methanol fuel cell to operate at the second output power and the lithium battery to operate at the third output power comprises: determining that the second output power increases from the first output power to the load power at a second preset increasing speed according to the load power; During the second output power increase, the third output power is the difference between the load power and the second output power; And controlling the lithium battery and the methanol fuel cell to supply energy to the hybrid unmanned aerial vehicle in the second output power increasing process, wherein the methanol fuel cell continuously operates at the second output power, and the lithium battery continuously operates at the third output power.
  7. 7. The method according to claim 1, wherein the method further comprises: Circularly acquiring the real-time temperature of the methanol fuel cell; And when the real-time temperature is lower than a preset temperature, controlling a lithium battery in the hybrid unmanned aerial vehicle to heat the methanol fuel cell.
  8. 8. An electronic device comprising a processor and a memory coupled to each other, the memory storing a computer program that, when executed by the processor, causes the electronic device to perform the method of any of claims 1-7.
  9. 9. A computer program product comprising a computer program which, when executed by a processor, implements the method of any of claims 1-7.

Description

Methanol fuel-based hybrid unmanned aerial vehicle low-temperature self-starting control method, equipment and product Technical Field The invention relates to the technical field of unmanned aerial vehicle control, in particular to a methanol fuel-based hybrid unmanned aerial vehicle low-temperature self-starting control method, equipment and a product. Background Along with the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicles gradually penetrate into agriculture, transportation and military industry, and have higher practical value in all industries due to the advantages of low cost and high efficiency. In the technical field of unmanned aerial vehicles, unmanned aerial vehicles using hydrogen fuel cells, methanol fuel cells and the like as energy supply cells are widely used due to the characteristics of high endurance and low emission. In order to further improve the endurance and the working stability of the unmanned aerial vehicle, part of unmanned aerial vehicles adopt a hybrid power system of a fuel cell and a lithium battery. The hybrid power system fully utilizes the endurance capacity of the fuel cell and the quick response capacity of the lithium battery, makes up the defect of a single power system, and improves the overall performance of the unmanned aerial vehicle power system. However, the existing hybrid unmanned aerial vehicle, especially the hybrid unmanned aerial vehicle using methanol fuel as a main energy supply battery, has imperfect starting control in a low-temperature environment and has the problem of insufficient energy utilization rate. Disclosure of Invention In view of the above, an object of the embodiments of the present application is to provide a method, an apparatus, and a product for controlling low-temperature self-starting of a hybrid unmanned aerial vehicle based on methanol fuel, which can solve the problem of insufficient energy utilization rate in the conventional starting control of the hybrid unmanned aerial vehicle based on methanol fuel in a low-temperature environment. In order to achieve the technical purpose, the application adopts the following technical scheme: In a first aspect, an embodiment of the present application provides a method for controlling low-temperature self-starting of a hybrid unmanned aerial vehicle based on methanol fuel, where the method includes: When the hybrid unmanned aerial vehicle is in a low-temperature state, acquiring state parameters representing the current state of a methanol fuel cell in the hybrid unmanned aerial vehicle; According to the state parameters, a preheating strategy is preset, and the lithium battery in the hybrid unmanned aerial vehicle is controlled to preheat the methanol fuel cell; And when the methanol fuel cell meets the preset condition, controlling the lithium battery to stop preheating, and starting the methanol fuel cell. With reference to the first aspect, in some optional embodiments, according to the state parameter, a preheating strategy is preset to control the lithium battery in the hybrid unmanned aerial vehicle to preheat the methanol fuel cell, including: When the hybrid unmanned aerial vehicle is in a low-temperature state, determining the predicted energy required by the methanol fuel cell to finish preheating according to the battery temperature and the battery heat capacity in the state parameters; Determining the predicted time length required by the methanol fuel cell to finish preheating according to the predicted energy and the heating working power of the lithium battery; And controlling the lithium battery to heat the methanol fuel cell with the heating working power, wherein the heating duration is the predicted duration. With reference to the first aspect, in some optional embodiments, the preset condition is that a current temperature of the methanol fuel cell is equal to or greater than a preset temperature, or that the heating time period is equal to or greater than the predicted time period. With reference to the first aspect, in some optional embodiments, when the methanol fuel cell meets a preset condition, controlling the lithium battery to stop preheating and starting the methanol fuel cell includes: when the methanol fuel cell meets preset conditions, controlling the lithium battery to stop preheating; acquiring the idle power and the load power of the hybrid unmanned aerial vehicle; Determining a first output power of the methanol fuel cell according to the idle power, and controlling the methanol fuel cell to operate at the first output power; And determining a second output power of the methanol fuel cell and a third output power of the lithium battery according to the load power, and controlling the methanol fuel cell to operate at the second output power and the lithium battery to operate at the third output power. With reference to the first aspect, in some optional embodiments, determining a first output power of the methanol fuel