太阳能无人机线性自抗扰多环路能源控制

doi:10.7527/S1000-6893.2022.27812

Abstract

Abstract:

To achieve high-efficiency management and control of solar cell/lithium battery hybrid energy systems for solar-powered UAVs， we propose a multi-loop control method based on Linear Active Disturbance Rejection Control （LADRC） to dynamically control the voltage/current of the power system， realizing efficient use of solar energy and avoiding overcharging of lithium batteries. The LADRC method is used to actively eliminate the system disturbance， improve the robustness and stability of the controller， and quickly and stably respond to the external dynamic changes during the maneuvering process of the solar UAV. A joint control method combining Maximum Power Point Tracking （MPPT） loop， voltage regulation loop and current limiting loop is designed to realize the simultaneous control of multiple state quantities of the energy management controller. A competition mechanism is introduced to settle the frequent working mode switching of the controller. The LADRC controller mathematical model is first established for the MPPT loop， and the dynamic response is compared with the PID method. A solar cell/lithium battery hybrid energy test platform is then built to couple the irradiation of the solar wing with the flight attitude， and the octagonal flight simulation test conducted for the proposed multi-loop control method. The results show that the maximum power point tracking time of the single/multi-loop control system based on the LADRC method can be reduced by 40%-70%， and the control system is more stable with accelerated transient response. During the flight simulation test， the proposed multi-loop control method can smoothly switch the working mode of the controller according to the flight load and battery power state， so that the photovoltaic system can always output with the best energy efficiency. The research results can provide a theoretical basis and engineering technical support for the high-efficiency flight of solar-powered UAVs.

Key words: solar power, UAVs, hybrid power, energy control strategy, multi-loop control, Linear Active Disturbance Rejection Control (LADRC)

CLC Number:

V242.2

Jiaqi SHAO, Xiaohui ZHANG, Hanyu XI, Zirong LIU. Multi⁃loop energy control method of linear active disturbance rejection for solar⁃powered UAVs[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(10): 327812.

Figures/Tables 20

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Table 1

Parameters of dynamic response test

光伏输入参数					控制器输出参考电压
$V o c$ /V	$I s c$ /A	$V m$ /V	$I m$ /A		$V o u t$ /V
44.78	5.85	36	5.58		25.2

Table 1

Table 2

Parameters of single⁃control loop

控制环路	LADRC		PI
MPPT环路	$b 0$	0.8×10¹⁰/3.3	$k p$	0.015
	$h (s)$	5×10^-5	$k i$	0.008
	$ω c$	1.5×10³
稳压环路	$b 0$	0.8×10¹⁰/3.3	$k p$	0.01
	$h (s)$	5×10^-5	$k i$	0.001 5
	$ω c$	0.8×10³

Table 2

Fig. 5

Table 3

Parameters of dual-control loop

控制环路	MPPT环路		稳压环路
方案1	LADRC		PI
	$b 0$	0.8×10¹⁰/3.3	$k p$	0.01
	$h (s)$	5×10^-5	$k i$	0.001 5
	$ω c$	1.5×10³
方案2	PI		PI
	$k p$	0.001 5	$k p$	0.01
	$k i$	0.008	$k i$	0.001 5

Table 3

Fig. 6

Table 4

Parameters of three⁃control loop

控制环路	MPPT环路		稳压环路		限流环路
方案1	LADRC		PI		PI
	$b 0$	0.006×10¹⁰/3.3	$k p$	1.5	$k p$	0.02
	$h (s)$	5×10^-5	$k i$	0.2	$k i$	0.002
	$ω c$	1.35×10³
方案2	PI		PI		PI
	$k p$	1.2	$k p$	1.5	$k p$	0.02
	$k i$	0.05	$k i$	0.2	$k i$	0.002

Table 4

Fig. 7

Fig. 8

Fig. 9

Table 5

Fig. 10

Table 6

Irradiance and power in different flight states

飞行状态	辐照度/ $(W · m - 2)$	$P m / W$	$P m o u t / W$	跟踪效率/%
0	829	147.7	141.2	95.6
1	846	169.5	161.5	95.3
2	827	165.6	158.1	95.5
3	782	156.5	151.3	96.6
4	739	147.7	142.2	96.3
5	722	144.3	139.6	96.7
6	742	148.3	141.3	95.3
7	786	157.3	150.1	95.4
8	830	166.2	158.7	95.5
9*	830	166.2

Table 6

Fig. 11

Fig. 12

Fig. 13

Fig. 14

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参数	数值
输入电压范围/V	15~60
输出电压范围/V	1.5~57
最大功率/W	200
驱动频率/kHz	500

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Multi⁃loop energy control method of linear active disturbance rejection for solar⁃powered UAVs

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