Flight simulation and control method of a unmanned aerial vehicle with regenerative fuel cells and solar cells for high altitude long endurance, and a control apparatus thereof

• US 10,209,686 B2
• Filed: 02/17/2017
• Issued: 02/19/2019
• Est. Priority Date: 02/17/2016
• Status: Active Grant

• Current Assignee: Korea Institute of Energy Research
• Original Assignee: Korea Institute of Energy Research
• Inventors: Kim, Minjin, Sohn, Young-jun, Kim, Seung-gon, Park, Gu-gon, Bae, Byungchan, Yim, Sung-dae, Park, Seok-hee, Yang, Tae-hyun, Lee, Won-yong, Kim, Chang-soo
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Louie, Wae L
• Application Number:
  US15/436,523
• Publication Number:
  US 20170322524A1
• Time in Patent Office: 732 Days
• Field of Search: 701 7, 701490, 455431, 2441231, 244 24
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64F 5/00 Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
• CPC Class Codes: B64U 10/00 Type of UAV
• CPC Class Codes: B64U 10/25 Fixed-wing aircraft VTOL aircraft B64U10/20
• CPC Class Codes: B64U 2201/00 UAVs characterised by their flight controls
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: B64U 50/31 generated by photovoltaics
• CPC Class Codes: B64U 50/32 generated by fuel cells
• CPC Class Codes: B64U 50/34 In-flight charging photovoltaics B64U50/31
• CPC Class Codes: G05B 13/048 using a predictor
• CPC Class Codes: G05D 1/0005 with arrangements to save energy
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: Y02A 90/10 Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

Provided are a flight simulation and control method of a unmanned aerial vehicle with regenerative fuel cells and solar cells for high altitude long endurance, and a control apparatus thereof. The high altitude long endurance simulation method for an unmanned aerial vehicle based on regenerative fuel cells and solar cells includes: a variable inputting step of inputting design variables of the unmanned aerial vehicle based on regenerative fuel cells and solar cells; a modeling step of performing modeling of the unmanned aerial vehicle based on regenerative fuel cells and solar cells using the design variables input in the variable inputting step; and an analyzing step of analyzing a modeling result in the modeling step to perform a high altitude long endurance simulation while controlling any one of the design variables input in the variable inputting step.

Claims

1. A high altitude long endurance simulation method for an unmanned aerial vehicle based on regenerative fuel cells and solar cells, configured in a program form executed by an arithmetic processing means including a computer, comprising:

a variable inputting step of inputting specific design variables of the unmanned aerial vehicle based on regenerative fuel cells and solar cells;

a modeling step of performing modeling of the unmanned aerial vehicle based on regenerative fuel cells and solar cells through pre-set correlation equations using the specific design variables input in the variable inputting step and pre-stored design variables;

an analyzing step of analyzing a modeling result in the modeling step to perform a high altitude long endurance simulation while controlling two design variables selected from the specific design variables input in the variable inputting step to be fixed and controlling the other one design variable to be changed; and

a validity verifying step of analyzing a result of the high altitude long endurance simulation for the unmanned aerial vehicle based on regenerative fuel cells and solar cells performed in the analyzing step to decide whether or not high altitude long endurance of the unmanned aerial vehicle based on regenerative fuel cells and solar cells is possible under the control in the analyzing step.

2. The high altitude long endurance simulation method for the unmanned aerial vehicle based on regenerative fuel cells and solar cells of claim 1, wherein in the variable inputting step, a weight of the unmanned aerial vehicle, a wing area of the unmanned aerial vehicle, and water electrolysis performance of the regenerative fuel cells are included and set as the specific design variables of the unmanned aerial vehicle based on regenerative fuel cells and solar cells.

3. The high altitude long endurance simulation method for the unmanned aerial vehicle based on regenerative fuel cells and solar cells of claim 2, wherein in the modeling step, the modeling of the unmanned aerial vehicle based on regenerative fuel cells and solar cells is performed, through correlation equations set by correlations between design variables including the specific design variables and the regenerative fuel cells and solar cells, using the specific design variables input in the variable inputting step and the pre-stored design variables, so as to calculate output power required energy of the unmanned aerial vehicle, output power of the solar cells, energy generated by the solar cells, output power of fuel cells included in the regenerative fuel cells, energy generated by the fuel cells included in the regenerative fuel cells, amounts of hydrogen and oxygen consumed through the fuel cells included in the regenerative fuel cells, an amount of water generated through the fuel cells included in the regenerative fuel cells, output power of a water electrolyzer included in the regenerative fuel cells and energy generated by the water electrolyzer included in the regenerative fuel cells, amounts of hydrogen and oxygen generated through the water electrolyzer included in the regenerative fuel cells, and an amount of water consumed through the water electrolyzer included in the regenerative fuel cells.

4. A flight control method for an unmanned aerial vehicle based on regenerative fuel cells and solar cells, comprising:

an inputting step of receiving an input for a weight and a wing area of the unmanned aerial vehicle and water electrolysis performance of the regenerative fuel cells;

a required energy calculating step of measuring a current speed and altitude of the unmanned aerial vehicle that is being flown to calculate lift force and thrust force of the unmanned aerial vehicle and drag force acting on the unmanned aerial vehicle and calculate output power and required energy of the unmanned aerial vehicle using the lift force, the thrust force, and the drag force;

a calculating step of measuring energy generated by the solar cells installed in the unmanned aerial vehicle and measuring a current cell voltage of fuel cells included in the regenerative fuel cells to calculate energy generated by the fuel cells, amounts of hydrogen and oxygen consumed through the fuel cells, and an amount of water generated through the fuel cells, and calculating amounts of hydrogen and oxygen generated in a water electrolyzer included in the regenerative fuel cells and an amount of water consumed through the water electrolyzer using surplus energy except the required energy supplied to the unmanned aerial vehicle in the energy generated by the solar cells; and

a deciding step of deciding whether or not energy that is generated in the fuel cells maintains a currently set flight control on the basis of the amounts of hydrogen and oxygen generated using the surplus energy.

5. The flight control method for the unmanned aerial vehicle based on regenerative fuel cells and solar cells of claim 4, further comprising a requesting step of additionally requesting surplus energy that is to be used in the water electrolyzer in order to secure amounts of hydrogen and oxygen that are to be consumed through the fuel cells in the case in which it is decided that the energy that is generated in the fuel cells is less than energy required at the time of a flight of the unmanned aerial vehicle through a currently set flight path.

6. The flight control method for the unmanned aerial vehicle based on regenerative fuel cells and solar cells of claim 5, further comprising, after the requesting step of additionally requesting the surplus energy, an updating step of updating performance of the water electrolyzer, a speed and an altitude of the unmanned aerial vehicle, an amount of energy generated in the solar cells, and a cell voltage of the fuel cells measured depending on the flight path during a flight of the unmanned aerial vehicle.

7. The flight control method for the unmanned aerial vehicle based on regenerative fuel cells and solar cells of claim 4, further comprising a changing step of changing a flight path so that the unmanned aerial vehicle stays for the longest time by decreasing the energy generated in the fuel cells in the case in which it is decided that the energy that is generated in the fuel cells is less than energy required at the time of a flight of the unmanned aerial vehicle through a currently set flight path.

8. The flight control method for the unmanned aerial vehicle based on regenerative fuel cells and solar cells of claim 7, further comprising, after the changing step of changing the flight path, an updating step of updating performance of the water electrolyzer, a speed and an altitude of the unmanned aerial vehicle, an amount of energy generated in the solar cells, and a cell voltage of the fuel cells measured depending on the flight path during the flight of the unmanned aerial vehicle.

9. The flight control method for the unmanned aerial vehicle based on regenerative fuel cells and solar cells of claim 7, wherein the flight path is changed by changing any one or more of an altitude, a speed, a climb angle, and a descent angle of the unmanned aerial vehicle.

10. The flight control method for the unmanned aerial vehicle based on regenerative fuel cells and solar cells of claim 7, wherein the flight path is any one of a first flight path through which the unmanned aerial vehicle performs a level flight during the night and performs a glide flight after a climb flight during the daytime, a second flight path through which the unmanned aerial vehicle performs a level flight during the night and performs a climb flight after a glide flight during the daytime, a third flight path through which the unmanned aerial vehicle performs a glide flight after a climb flight during the night and performs a level flight during the daytime, and a fourth flight path through which the unmanned aerial vehicle performs a climb flight after a glide flight during the night and performs a level flight during the daytime.

11. A flight control apparatus for an unmanned aerial vehicle based on regenerative fuel cells and solar cells, comprising:

an inputting unit of receiving an input for a weight and a wing area of the unmanned aerial vehicle and water electrolysis performance of the regenerative fuel cells;

a required energy calculating unit of measuring a current speed and altitude of the unmanned aerial vehicle that is being flown to calculate lift force and thrust force of the unmanned aerial vehicle and drag force acting on the unmanned aerial vehicle and calculate output power and required energy of the unmanned aerial vehicle using the lift force, the thrust force, and the drag force;

a calculating unit of measuring energy generated by the solar cells installed in the unmanned aerial vehicle and measuring a current cell voltage of fuel cells included in the regenerative fuel cells to calculate energy generated by the fuel cells, amounts of hydrogen and oxygen consumed through the fuel cells, and an amount of water generated through the fuel cells, and calculating amounts of hydrogen and oxygen generated in a water electrolyzer included in the regenerative fuel cells and an amount of water consumed through the water electrolyzer using surplus energy except the required energy supplied to the unmanned aerial vehicle in the energy generated by the solar cells; and

a deciding unit of deciding whether or not energy that is generated in the fuel cells maintains a currently set flight control on the basis of the amounts of hydrogen and oxygen generated using the surplus energy.

12. The flight control apparatus for the unmanned aerial vehicle based on regenerative fuel cells and solar cells of claim 11, further comprising a requesting unit of additionally requesting surplus energy that is to be used in the water electrolyzer in order to secure amounts of hydrogen and oxygen that are to be consumed through the fuel cells in the case in which it is decided that the energy that is generated in the fuel cells is less than energy required at the time of a flight of the unmanned aerial vehicle through a currently set flight path.

13. The flight control apparatus for the unmanned aerial vehicle based on regenerative fuel cells and solar cells of claim 12, further comprising an updating unit of updating performance of the water electrolyzer, a speed and an altitude of the unmanned aerial vehicle, an amount of energy generated in the solar cells, and a cell voltage of the fuel cells measured depending on a flight path during a flight of the unmanned aerial vehicle after the surplus energy is additionally requested.

14. The flight control apparatus for the unmanned aerial vehicle based on regenerative fuel cells and solar cells of claim 11, further comprising a changing unit of changing a flight path so that the unmanned aerial vehicle stays for the longest time by decreasing the energy generated in the fuel cells in the case in which it is decided that the energy that is generated in the fuel cells is smaller than energy required at the time of a flight of the unmanned aerial vehicle through a currently set flight path.

15. The flight control apparatus for the unmanned aerial vehicle based on regenerative fuel cells and solar cells of claim 14, further comprising an updating unit of updating performance of the water electrolyzer, a speed and an altitude of the unmanned aerial vehicle, an amount of energy generated in the solar cells, and a cell voltage of the fuel cells measured depending on the flight path during a flight of the unmanned aerial vehicle after the flight path is changed.

16. The flight control apparatus for the unmanned aerial vehicle based on regenerative fuel cells and solar cells of claim 14, wherein the flight path is changed by changing any one or more of an altitude, a speed, a climb angle, and a descent angle of the unmanned aerial vehicle.

17. The flight control apparatus for the unmanned aerial vehicle based on regenerative fuel cells and solar cells of claim 14, wherein the flight path is any one of a first flight path through which the unmanned aerial vehicle performs a level flight during the night and performs a glide flight after a climb flight during the daytime, a second flight path through which the unmanned aerial vehicle performs a level flight during the night and performs a climb flight after a glide flight during the daytime, a third flight path through which the unmanned aerial vehicle performs a glide flight after a climb flight during the night and performs a level flight during the daytime, and a fourth flight path through which the unmanned aerial vehicle performs a climb flight after a glide flight during the night and performs a level flight during the daytime.