A kind of the power configuration scheme and control method of the hybrid power system for helicopterTechnical field
The present invention relates to aviation aircraft technical fields, are a kind of hybrid powers for helicopter more specificallySystem, power configuration scheme and control method.
Technical background
Helicopter has the features such as VTOL, hovering, cruise and fast transition course, be widely used in transport,Patrol、Tourism、RescueEtc. multiple fields.With helicopter for high fuel economy, redundance power, high reliability needIt asks, oil electric mixed dynamic will become the future thrust of helicopter dynamical system.Compared with traditional fuel engines system,It increases the variety of components and flight integrated mode of dynamical system, and is combined optimization according to the aerial mission of helicopter,So that the engine as main power source is able to maintain the ideal traffic coverage for operating in high efficiency, low oil consumption, low emission, improvesHelicopter fuel economy and low emission；It can recycle the braking energy of main rotor or the dump energy of fuel engines,Energy efficiency is improved, course continuation mileage is increased；It is worth noting that, in military information collection, scouting, in terms of monitoring, lighium polymerBattery and motor can reduce the noise, smog and thermal imaging of helicopter, improve it as auxiliary power source isolated operationStealth Fighter；Meanwhile a variety of power sources can improve helicopter to avoid because of air crash accident caused by single power source failureSafety and reliability.Compared with pure electric vehicle system, due to the restriction of current battery technology, in a short time, pure electric vehicle withoutIt is man-machine to be unable to reach practical and commercialization.And oil electric mixed dynamic helicopter can be improved in the case where initial cost reducesCourse continuation mileage.
For the hybrid power system of helicopter, people have carried out long-term exploration, propose various improvement sidesCase.Such as Chinese patent publication No. CN105836141A, date of publication 2016-08-10, a kind of hybrid power helicopter driving is disclosedMechanism and driving method, which includes a basic motive source and an auxiliary power source, using simple planetary arrangementPower distribution is carried out, structure is complicated, has a single function, and does not consider the influence that the state of energy savings device controls helicopter.InState Patent publication No CN105691610A, date of publication 2016-06-22 disclose hybrid power system and tool for helicopterThere is its helicopter, which includes engine, power battery, ISG motor and tail-rotor motor, and wherein ISG motor fails straightRise machine aggregate demand power it is big when provide electric boosted, enter high oil consumption operating condition to avoid engine, while not braking to main rotorEnergy is recycled, and energy-saving effect is general.
Summary of the invention
The purpose of the present invention is to the above problem, provide that a kind of overall structure is simple, energy utilization rate is high, engineFuel efficiency height, energy-saving and emission-reduction, powerful, the safe and reliable hybrid power system for helicopter, power configuration schemeAnd control method.The present invention determines helicopter power allocation plan by SOC value of battery and aggregate demand watt level, in helicopterThe energy content of battery is used during landing as far as possible, it on the one hand can be by the quick balancing battery energy of plug-in structure, on the other handMain rotor braking energy, the energy-saving effect of further lifting system can be recycled to the maximum extent by main rotor motor.For up toTo above-mentioned purpose, the technical solution adopted in the present invention is as follows:
The present invention provides a kind of hybrid power system for helicopter, comprising: main rotor dynamical system, tail rotor powerSystem, complete machine control system；
The main rotor dynamical system include: engine (8), main rotor motor controller (6), first clutch (7),Second clutch (5), end gear-box (4), auto-bank unit (3), main rotor (2), fuel tank (12), the first clutch(7) be mounted between engine (8) and main rotor motor controller (6), second clutch (5) be mounted on main rotor motor andBetween controller (6) and end gear-box (4), main rotor motor controller (6) and engine (8) constitute hybrid power systemSystem, the fuel tank (12) provide oil plant for engine；Under the premise of guaranteeing that main rotor power output requires, mention as much as possibleThe fuel economy of high engine reduces pollutant emission, realizes the target of energy-saving and emission-reduction.
The tail rotor dynamical system includes: battery (10), tail rotor motor controller (15), tail rotor (16), instituteIt states tail rotor motor controller (15) to directly drive tail rotor (16), battery (10) is tail rotor motor controller (15) confessionElectricity；Traditional transmission shaft can be saved, tailspin wing structure is simplified, improves transmission efficiency and control precision；
The complete machine control system includes: complete machine controller (1), battery management system (11), engine controller (9),The SOC value of battery management system (11) estimation battery (10), engine controller (9) control the air throttle of engine (8)Aperture, complete machine controller (1) directly control tail rotor motor controller (15), battery management system (11), engine controlDevice (9), main rotor motor controller (6), auto-bank unit (3).
Further, the output end of main rotor motor (6) rotor and engine (8) crankshaft links together, and realizesIt is electric boosted, generate electricity, start engine and directly drive helicopter function.
It further, further include a plug (14) in the tail rotor dynamical system, the battery (10) passes through plug(14) it connect with external world's power grid to obtain energy, expands energy harvesting approach.
Further, a kind of hybrid power system for helicopter further includes an inverter/rectifier (13),The battery (10) is connect by inverter/rectifier (13) with main rotor motor controller (6), according to main rotor motor andController (6) operating status stores energy to battery (10), or energy is obtained from battery (10).
It is as follows that the present invention provides a kind of hybrid system control method for helicopter:
When helicopter is in takeoff phase, first clutch (7) separation, second clutch (5) engagement, battery (10) is respectivelyTo main rotor motor controller (6), tail rotor motor controller (15) provide energy, make its drive respectively main rotor (2),Tail rotor (16) rotation；Wait rotate to rated speed, first clutch (7) is gradually engaged, and is driven engine (8) starting, is kept awayExempt from bad working environments of the engine in low rate start；
When helicopter is in the/landing phases that climb/hover, first clutch (7) engagement, second clutch (5) engagement, hairMotivation (8) keeps desired speed simultaneously to export rotational energy, battery (10) by inverter/rectifier (13) to main rotor motor andController (6) provides energy, and main rotor motor controller (6) provides power-assisted, passes through terminal teeth after the coupling of two power source machineriesRoller box (4), auto-bank unit (3) drive main rotor (2) jointly；Battery (10) provides energy to tail rotor motor controller (15)Amount makes it drive tail rotor (16) rotation；
When helicopter is in cruising flight phase, first clutch (7) engagement, second clutch (5) engagement, engine(8) rotational energy is exported, main rotor (2) are operated alone by end gear-box (4), auto-bank unit (3)；Engine (8) bandDynamic main rotor motor controller (6) rotor power generation, stores energy to battery (10) by inverter/rectifier (13)；ElectricityPond (10) provides energy to tail rotor motor controller (15), it is made to drive tail rotor (16) rotation；
When helicopter is in landing/pure electric mission phase, first clutch (7) separation, second clutch (5) engagement, electricityPond (10) provides energy to main rotor motor controller (6), tail rotor motor controller (15) respectively, drives it respectivelyMain rotor (2), tail rotor (16) rotation, helicopter complete landing/pure electric aerial mission；
When helicopter is in engine catastrophic failure stage, first clutch (7) separation, second clutch (5) engagement, electricityPond (10) provides energy to main rotor motor controller (6), tail rotor motor controller (15) respectively, drives it respectivelyMain rotor (2), tail rotor (16) rotation；First clutch (7) gradually engages, and engine (8) starting is driven, such as engine (8)Normal starting, engine (8) export rotational energy；If engine (8) cannot normally start, first clutch (7) separation is avoidedEngine (8) secondary damage, and auto-bank unit (3) are adjusted in time, promote helicopter to complete forced landing；
When helicopter is in landing grounding stage, first clutch (7) separation, second clutch (5) engagement, engine(8) it closes, by the conduction phase of the exciting current in change main rotor motor controller (6), its is made to generate reverse rotation,Inverse electromotive force is generated, main rotor (2) braking energy is recycled, battery is stored energy to by inverter/rectifier (13)(10)；
It is as follows that the present invention provides a kind of hybrid power system power allocation scheme for helicopter:
When the range of SOC value of battery is [0.7,1], if aggregate demand power " big ", in the range of starting more than or equal to 1.2 timesWhen machine rated power, then engine is exported with the best power in low burn oil consumption section, the output of motor auxiliary power；If always needingAsk power " in ", in the range of less than 1.2 times of engine power ratings and be more than or equal to 0.6 times of engine power rating when, thenEngine is exported with the best power in low burn oil consumption section, the output of motor auxiliary power；If aggregate demand power " small ", modelWhen enclosing for less than 0.6 times of engine power rating, then engine does not export, and motor is with the output of actual demand mesh power；IfAggregate demand power " negative ", i.e., less than 0 when, then motor does not recycle the braking energy of main rotor；
When SOC value of battery range be [0.3,0.7), if aggregate demand power " big ", in the range of be more than or equal to 1.2 times send outWhen motivation rated power, then engine is with the maximum power output in low burn oil consumption section, the output of motor auxiliary power；If totalDemand power " in ", in the range of less than 1.2 times of engine power ratings and be more than or equal to 0.6 times of engine power rating when,Then engine is exported with the best power in low burn oil consumption section, the output of motor auxiliary power；If aggregate demand power " small ",When range is less than 0.6 times of engine power rating, then engine is exported with the best power in low burn oil consumption section, and will be moreComplementary work rate charges the battery；If aggregate demand power " negative ", i.e., less than 0 when, then motor recycling main rotor braking energy；
When the range of SOC value of battery is (0,0.3), if aggregate demand power " big ", in the range of starting more than or equal to 1.2 timesWhen machine rated power, then engine is with the output of actual demand mesh power；If aggregate demand power " in ", in the range of being less than1.2 times of engine power ratings and be more than or equal to 0.6 times of engine power rating when, engine with low burn oil consumption section mostHigh-power output, and surplus power is charged the battery；If aggregate demand power " small ", in the range of less than 0.6 times engine volumeWhen determining power, then engine is exported with the best power in low burn oil consumption section, and surplus power is charged the battery；If always needingAsk power " negative ", i.e., less than 0 when, then motor recycling main rotor braking energy.
Compared with prior art, the present invention having the beneficial effect that:
Helicopter Main rotor motor is arranged in the double clutch construction between engine and end gear-box, and main rotor electricityThe output end of machine rotor and engine crankshaft links together, and causes this structure that main rotor can both be operated alone, and can also startEngine or power-assisted power generation；Tail rotor motor direct-drive tail rotor can save traditional transmission shaft, simplify tail rotor knotStructure improves transmission efficiency and control precision；Plug-in structure expands energy content of battery acquiring way；Main rotor motor can be with maximum limitDegree ground recycling main rotor braking energy, the energy-saving effect of further lifting system；The helicopter power allocation plan of formulation usesAdvanced control method makes helicopter meet different flight environment of vehicle demands, make it have overall structure is simple, energy utilization rate is high,Engine fuel efficiency height, energy-saving and emission-reduction, powerful, it is safe and reliable the advantages that.
Detailed description of the invention
Fig. 1 is the hybrid power system of helicopter of the invention
Fig. 2 is the power configuration scheme of helicopter of the invention
Specific embodiment
The embodiment of the present invention is further described with reference to the accompanying drawing.
Fig. 1 is please referred to, in the present embodiment, a kind of hybrid power system for helicopter, comprising: main rotor dynamical systemSystem, tail rotor dynamical system, complete machine control system；
The main rotor dynamical system include engine (8), main rotor motor controller (6), first clutch (7),Second clutch (5), end gear-box (4), auto-bank unit (3), main rotor (2), first clutch (7) are mounted on engine(8) between main rotor motor controller (6), second clutch (5) is mounted on main rotor motor controller (6) and endBetween gear-box (4), main rotor motor controller (6) and engine (8) constitute hybrid power system, are guaranteeing that main rotor is dynamicUnder the premise of power output requires, the fuel economy of engine is improved as much as possible, reduces pollutant emission, realizes energy-saving and emission-reductionTarget.
The tail rotor dynamical system includes battery (10), tail rotor motor controller (15), tail rotor (16), tailspinWing motor controller (15) directly drives tail rotor (16), can save traditional transmission shaft, simplifies tailspin wing structure, improvesTransmission efficiency and control precision.
The complete machine control system includes complete machine controller (1), battery management system (11), engine controller (9), masterRotor motor and controller (6), tail rotor motor controller (15), wherein battery management system (11) can estimate battery(10) SOC value, engine controller (9) can control the throttle opening of engine (8), and complete machine controller (1) is according to systemFixed helicopter power allocation plan determines specific operating mode, controls above controller, and pass through the letter of various sensorsNumber realize closed-loop control.
The output end of main rotor motor (6) rotor and engine (8) crankshaft links together, and electronic help may be implementedPower, power generation start engine and directly drive the functions such as helicopter.
The fuel tank (12) connect with engine (8) by oil liquid pipeline and provides energy.
The battery (10) is connect by plug (14) with extraneous power grid to obtain energy, and energy harvesting approach is expanded.
The battery (10) is connect by inverter/rectifier (13) with main rotor motor controller (6), according to main rotationWing motor controller (6) operating status can store energy to battery (10) such as electric operation, generator operation, or from electricityEnergy is obtained in pond (10).
Wherein, a kind of hybrid system control method for helicopter is as follows: when helicopter is in takeoff phase,One clutch (7) separation, second clutch (5) engagement, battery (10) is respectively to main rotor motor controller (6), tail rotorMotor controller (15) provides energy, it is made to drive main rotor (2), tail rotor (16) rotation respectively；Turn wait rotate to normalAfter speed, first clutch (7) is gradually engaged, and is driven engine (8) starting, is avoided severe work of the engine in low rate startCondition.
When helicopter is in the/boost phase that climbs/hover, first clutch (7) engagement, second clutch (5) engagement, hairMotivation (8) keeps desired speed simultaneously to export rotational energy, battery (10) by inverter/rectifier (13) to main rotor motor andController (6) provides energy, and main rotor motor controller (6) provides power-assisted, passes through terminal teeth after the coupling of two power source machineriesRoller box (4), auto-bank unit (3) drive main rotor (2) jointly；Battery (10) provides energy to tail rotor motor controller (15)Amount makes it drive tail rotor (16) rotation.
When helicopter is in cruising flight phase, first clutch (7) engagement, second clutch (5) engagement, engine(8) rotational energy is exported, main rotor (2) are operated alone by end gear-box (4), auto-bank unit (3)；Engine (8) bandDynamic main rotor motor controller (6) rotor power generation, stores energy to battery (10) by inverter/rectifier (13)；ElectricityPond (10) provides energy to tail rotor motor controller (15), it is made to drive tail rotor (16) rotation.
When helicopter is in landing/pure electric mission phase, first clutch (7) separation, second clutch (5) engagement, electricityPond (10) provides energy to main rotor motor controller (6), tail rotor motor controller (15) respectively, drives it respectivelyMain rotor (2), tail rotor (16) rotation, helicopter complete landing/pure electric aerial mission.
When helicopter is in engine catastrophic failure stage, first clutch (7) separation, second clutch (5) engagement, electricityPond (10) provides energy to main rotor motor controller (6), tail rotor motor controller (15) respectively, drives it respectivelyMain rotor (2), tail rotor (16) rotation；First clutch (7) gradually engages, and engine (8) starting is driven, such as engine (8)Normal starting, engine (8) export rotational energy；If engine (8) cannot normally start, first clutch (7) separation is avoidedEngine (8) secondary damage, and auto-bank unit (3) are adjusted in time, promote helicopter to complete forced landing.
When helicopter is in landing grounding stage, first clutch (7) separation, second clutch (5) engagement, engine(8) it closes, by the conduction phase of the exciting current in change main rotor motor controller (6), its is made to generate reverse rotation,Inverse electromotive force is generated, main rotor (2) braking energy is recycled, battery is stored energy to by inverter/rectifier (13)(10)。
Referring to figure 2., in the present embodiment, it is characterised in that helicopter power allocation plan is established mixed to helicopterOn the basis of closing dynamic characteristics, is realizing helicopter " constant speed displacement " control, determining main rotor and its specific revolving speed of dynamical systemAfterwards, the characteristic according to dynamical system is needed, in conjunction with the power demand under each state of flight, is allowed to the corresponding mixed dynamic Working mould of matchingFormula, and engine and the specific operating status of main rotor motor are controlled, to reach the target of minimum fuel consumption.
The helicopter power allocation plan needs that both helicopter overall power requirement and SOC value of battery is combined to be groundStudy carefully, is explained further as shown in table 1, in which: Pd、Pe、PmRespectively helicopter aggregate demand power, engine power, motor functionRate, Pm_a、Pm_mat、Pm_ch、Pe_matRespectively motor assist power, motor mesh power, motor charge power, Engine MatchingPower, Pe_eff_max、Pe_eff_optThe respectively maximum power in engine low burn oil consumption section, engine low burn oil consumption sectionBest power, Pr_bFor main rotor braking energy.
When the range of SOC value of battery is [0.7,1], if aggregate demand power " big ", in the range of starting more than or equal to 1.2 timesWhen machine rated power, then engine is exported with the best power in low burn oil consumption section, the output of motor auxiliary power；If always needingAsk power " in ", in the range of less than 1.2 times of engine power ratings and be more than or equal to 0.6 times of engine power rating when, thenEngine is exported with the best power in low burn oil consumption section, the output of motor auxiliary power；If aggregate demand power " small ", modelWhen enclosing for less than 0.6 times of engine power rating, then engine does not export, and motor is with the output of actual demand mesh power；IfAggregate demand power " negative ", i.e., less than 0 when, then motor does not recycle the braking energy of main rotor；
When SOC value of battery range be [0.3,0.7), if aggregate demand power " big ", in the range of be more than or equal to 1.2 times send outWhen motivation rated power, then engine is with the maximum power output in low burn oil consumption section, the output of motor auxiliary power；If totalDemand power " in ", in the range of less than 1.2 times of engine power ratings and be more than or equal to 0.6 times of engine power rating when,Then engine is exported with the best power in low burn oil consumption section, the output of motor auxiliary power；If aggregate demand power " small ",When range is less than 0.6 times of engine power rating, then engine is exported with the best power in low burn oil consumption section, and will be moreComplementary work rate charges the battery；If aggregate demand power " negative ", i.e., less than 0 when, then motor recycling main rotor braking energy；
When the range of SOC value of battery is (0,0.3), if aggregate demand power " big ", in the range of starting more than or equal to 1.2 timesWhen machine rated power, then engine is with the output of actual demand mesh power；If aggregate demand power " in ", in the range of being less than1.2 times of engine power ratings and be more than or equal to 0.6 times of engine power rating when, engine with low burn oil consumption section mostHigh-power output, and surplus power is charged the battery；If aggregate demand power " small ", in the range of less than 0.6 times engine volumeWhen determining power, then engine is exported with the best power in low burn oil consumption section, and surplus power is charged the battery；If always needingAsk power " negative ", i.e., less than 0 when, then motor recycling main rotor braking energy；
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation "The terms such as " separation ", " engagement " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or at oneBody；It can be mechanical connection, be also possible to electrical connection or oil liquid connection；It can be directly connected, intermediary can also be passed throughIt is indirectly connected, can be the connection inside two elements or the interaction relationship of two elements, unless otherwise restricted clearly.For the ordinary skill in the art, can understand as the case may be above-mentioned term in the present invention specifically containJustice.
The range of term SOC value of battery be (0,0.3), [0.3,0.7), [0.7,1] and aggregate demand power " big "," in ", " small ", " negative " be used for description purposes only, and cannot understand or be limited to indication or suggestion relative importance or implicit refer toThe numerical value of bright indicated technical characteristic, for the ordinary skill in the art, can understand as the case may be onState the concrete meaning of term in the present invention.
Term " first ", " second " be used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance orImplicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or implyGround includes at least one this feature.
Table 1