• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
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  • 优先权
    • 专利摘要:
    A power supply system for a tethered teleoperated apparatus (10) having a power source (21) configured to provide electrical power, and an electrical cable (20) electrically connected to said power source power supply and configured to route said electrical energy to said captive teleoperated apparatus for powering at least one rotating electrical machine and / or systemic elements embedded in said teleoperated captive apparatus; characterized in that said power supply source is configured to provide a three-phase AC high voltage, said power cable is configured to route said three-phase AC high voltage, and said system further comprises an onboard energy management and conversion device in said teleoperated apparatus which is captive and configured to rectify said three-phase AC high voltage received in a high DC voltage and to lower said high DC voltage in DC low voltage
    公开号:FR3052364A1
    申请号:FR1655400
    申请日:2016-06-10
    公开日:2017-12-15
    发明作者:Claude Boulic；Jean-Michel Hubert
    申请人:ECA ROBOTICS；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION The invention relates to a power supply system for a teleoperated captive device, for example a rotary wing and in particular an aircraft such as a drone.
    BACKGROUND TECHNOLOGY
    The teleoperated rotary wing aircraft and in particular the drones, generally comprise a main body provided with a rotating electrical machine used in engine mode, sets of blades arranged on either side of the main body and each connected to a rotor of the electric machine, which sets of blades form the rotary wing, and feet extending from the main body.
    These devices also include embedded electronics. These are systemic elements configured to perform certain operations in flight and to control the aircraft. In particular, it may be photo sensors, video cameras, control and control units provided in particular with microprocessors or microcontrollers and memories, geolocation devices, actuators for controlling the apparatus; but also systemic elements for controlling and controlling the rotating electrical machine, for example voltage sensors, current sensors, voltage converters, etc.
    The rotating electrical machine and all embedded electronics require to operate to be electrically powered during the flight.
    Teleoperated devices may include one or more electrical energy storage units such as batteries. These so-called active devices may have a relatively large range but have a limited autonomy and the batteries need to be recharged.
    There are also so-called captive teleoperated devices that are electrically powered during the flight phase by a power source connected to the device via a cable providing both electrical and mechanical functions.
    OBJECT OF THE INVENTION The invention aims to provide a power supply system for a teleoperated captive device, which is particularly powerful. The subject of the invention is thus a power supply system for a teleoperated captive device, comprising a power supply source configured to supply electrical energy, and an electrical cable electrically connected to said power supply source and configured to conveying said electrical energy to said captive teleoperated apparatus for powering at least one rotating electrical machine and / or systemic elements embedded in said teleoperated captive apparatus; characterized in that said power supply source is configured to provide a three-phase AC high voltage, said power cable is configured to route said three-phase AC high voltage, and said system further comprises an onboard energy management and conversion device in said teleoperated apparatus captive and configured to rectify said three-phase AC high voltage received in a high DC voltage and to lower said DC high voltage to DC low voltage.
    In the electrical power supply system according to the invention, the provision and routing to the remote teleoperated apparatus of a three-phase AC high voltage makes it possible to satisfy the needs, in particular instantaneous power, of this apparatus. Note that the device can for example require a power of the order of 2 kW to 5 kW.
    The provision by the power source of a three-phase AC high voltage makes it possible, for a given power, to reduce the intensity supplied.
    The electric cable thus makes use of electrical energy having a three-phase alternating high voltage and a low intensity, which makes it possible to use a cable of small diameter and therefore having a reduced linear density and reduced Joule losses.
    It will be noted that for a given weight, the reduction of the linear density of the electric cable advantageously makes it possible to increase the length thereof. The power supply system according to the invention therefore makes it possible to increase the radius of action of the teleoperated captive device.
    Moreover, the conversion by the device for managing and converting energy embedded in the teleoperated captive device, from the three-phase high-voltage supplied by the electric cable to a low DC voltage, is particularly convenient since it makes it possible to use a rotating electrical machine and systemic elements embedded in said captive teleoperated apparatus which are fed conventionally by a low DC voltage.
    Thanks to the power supply system according to the invention, the supply and routing to the teleoperated device captive high-voltage AC three-phase does not impact the compactness and weight of this device.
    The power source may be configured to provide electrical power having a three-phase high-ac voltage having a value between about 350 V and about 700 V and an intensity value of less than 10 A; said power management and conversion device may be configured to rectify the received AC electrical energy into a DC electrical power having a DC high voltage having a value between about +/- 300 V and about +/- 600 V and an intensity value also less than 10 A, and then to regulate the rectified continuous electrical energy into an electrical energy having a low DC voltage having a value between about 30 V and about 70 V and an intensity value between about 30 A and about 60 A or at most 80 A.
    It will be noted that the positive and negative values of the rectified DC high voltage correspond to the two branches, also called rails, of a three-phase rectifier.
    According to particularly simple, convenient and economical characteristics of the system according to the invention: said electrical cable comprises three insulated main conductors each formed of a plurality of strands, a neutral conductor and a braid enveloping the main and neutral conductors ; each of the main conductors and neutral having for example a similar diameter and being all provided with tinned copper strands of section equal to about 0.38 mm ^, and said braid being for example formed of viscose coated with acrylic and having a diameter of the order of 3.6 mm; the system is further configured to transmit, from said captive teleoperated apparatus, information representative of instantaneous power to be supplied to said apparatus and to communicate said representative power information to said on-line power source by means of at least one of said main conductors; said electric cable; said electric cable further comprises an optical fiber configured to pass via said electric cable data from and to said captive teleoperated apparatus; said optical fiber being for example multimode type and having a diameter of about 0.9 mm; said electric cable further comprises a central core configured to provide a mechanical holding function of said captive teleoperated apparatus; said central core being for example formed of aramid fiber and having a breaking load of the order of 100 daN so as to also play a pulling role of the apparatus; said electrical cable has a length greater than 50 m and less than about 200 m and said system comprises a drum configured to unroll and wind said electrical cable; said power conversion and management device comprises a continuous AC three-phase rectifier configured to convert said three-phase high-voltage alternating current to a high-DC voltage, a first group of several DC continuous converters, connected to a positive output branch of said three-phase AC rectifier. continuous and configured to regulate said continuous low voltage DC high voltage, as well as a second group of a plurality of continuous DC converters, connected to a negative output branch of said DC AC rectifier and configured to also control said low voltage DC high voltage keep on going ; said energy management and conversion device further comprises a control and control unit configured to control said continuous AC three-phase rectifier and said first and second groups of several DC continuous converters according to the instantaneous power required for said apparatus; said energy management and conversion device further comprises a plurality of sensors configured to measure the output current of said continuous AC three-phase rectifier and / or the output of said first and second groups of several DC continuous converters, said sensors being controlled by said control and command unit; said energy management and conversion device further comprises an isolation controller of said neutral conductor; said system further comprises a buffer energy storage unit electrically connected to said energy conversion and management device and configured to supply, in parallel, said at least one rotating electrical machine and / or said systemic elements embedded in said teleoperated captive device; and / or - said power source is formed by a diesel generator having a nominal power of about 6.5 kVA and having a neutral conductor isolated from the earth.
    BRIEF DESCRIPTION OF THE DRAWINGS
    We will now continue the presentation of the invention by the description of embodiments, given below by way of illustration and not limitation, with reference to the accompanying drawings in which: - Figure 1 is a schematic view in perspective , a land vehicle on which is parked a teleoperated rotary wing aircraft; - Figure 2 is a schematic view showing the aircraft in flight phase, mechanically connected to the vehicle through a cable and electrically powered by the latter; - Figure 3 is a sectional view of the cable shown schematically in Figure 2; - Figure 4 is a block diagram of a power supply system and electrical management at the vehicle and to the device; - Figure 5 is a diagram similar to that of Figure 4, showing the power supply system and electrical management at the device; and FIG. 6 is a block diagram detailing a device for managing and converting voltage of the power supply and electrical management system integrated in the apparatus.
    DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS
    FIG. 1 shows a land vehicle 1, here pickup type, that is to say having a body 2 at the rear of the vehicle 1, on which is mounted a frame 3 formed by longitudinal members 4, crosspieces 5 connected each to longitudinal members 4 and posts 6 each connected to longitudinal members 4 or crosspieces 5 so as to form a metal structure known as frames, defining an internal space 7.
    FIG. 1 further shows a holding system 8 introduced into the internal space 7 of the chassis 3, designed to maintain in parked position a teleoperated rotary wing apparatus 13.
    The holding system 8 comprises a mobile receiving platform 9 intended to receive the apparatus 10, a side wall 10 here cylindrical, delimiting at the periphery a reception space 12 for the apparatus 10, as well as a locking device 11 mounted on the side wall 13 and which is configured to block the rotary wing 13 of the apparatus 10 when the latter is in the stationary position on the platform 9 and in the reception area 12.
    FIG. 1 furthermore shows a plurality of electrical and / or mechanical boxes 14 mounted on the frame 3 and which each comprise electronic and / or electrotechnical and / or mechanical system elements to enable the apparatus 10 to carry out phases of flight during which he must perform missions (or tasks).
    As can be seen schematically in FIG. 2, the apparatus 10 is here a drone, that is to say an aerial teleoperated apparatus with a rotary wing.
    This apparatus 10 comprises a main body 15 provided with a rotating electrical machine 16 (visible in FIG. 5) used in motor mode and on-board electronics formed by systemic elements, for example control and control units provided in particular with microprocessors or microcontrollers and memories, geolocation devices, actuators for controlling the apparatus, but also systemic elements for controlling and controlling the rotating electrical machine, for example voltage sensors, current sensors, power converters, voltage, etc. (see below in more detail). The apparatus 10 further comprises two sets of several blades 13 (here three) disposed on either side of the main body 15, a so-called upper set and a lower set, each blade 13 of a set of blades being connected. mechanically to a rotor of the rotating electrical machine 16. The two sets of blades 13 here form the rotary wing of the apparatus 10.
    Note that the rotating electrical machine 16 is for example a brushless motor said in English terminology "brushiess". The apparatus 10 also comprises several feet 17 (here three) extending from the main body 15, under the lower set of blades 1, opposite the feet 17, a cover 18 situated above the main body 15 and the blade set 13 said upper, which cover 18 is also provided with embedded electronics and in particular communication systems, including for example an antenna (not shown) protruding from the cover; and other systemic elements, for example video and / or photo sensors 19 housed under the main body 15 and the lower set of blades 13, between the legs 17.
    The rotating electrical machine 13 and all the embedded electronics require, in order to function, to be electrically powered during the flight phases. The apparatus 10 is here electrically and mechanically connected by an electric cable 20 to a power supply 21 (visible in FIG. 4) mounted on the chassis 3.
    The power source 21 is configured to provide electrical power and the cable 20 is electrically connected to the power source 21 and is configured to route electrical power to the apparatus 10 to power at least the rotating electrical machine 16, or even all the systemic elements embedded in the apparatus 10.
    In particular, the power source 21 is configured to provide a three-phase AC high voltage and the electrical cable 20 is configured to route this high-voltage three-phase AC to the apparatus 10.
    Such an apparatus 10 is said to be captive since its radius of action is limited by the length of the cable 20.
    Here, the cable 20 has a length greater than 50 m and less than about 200 m, and preferably about 150 m.
    FIG. 3 shows, in section, the detail of the cable 20, which comprises three main conductors 22 each insulated by a sheath 23 and each formed here of a plurality of strands 24.
    Each main conductor 22 is dedicated to one of the three phases to the three-phase voltage (or current) system generated by the power supply 21.
    The strands 24 are for example tinned copper and has a substantially hexagonal shape whose section (area) is here equal to 0.38 mm ^.
    The sheath 23 is for example made of thermoplastic elastomer, in particular polyester.
    The cable 20 further comprises a neutral conductor 25 insulated by a sheath 26, for example similar to the sheath 23, and each formed of a plurality of strands 27, for example also similar to the strands 24.
    The cable 20 here comprises an optical fiber 28 configured to pass data via cable 20 to and from the apparatus 10.
    The optical fiber 28 is for example of the multimode type, especially Gl 62.5 / 125, and has a diameter of about 0.9 mm.
    The cable 20 further comprises here a central core 29 configured to provide a mechanical function of retaining the device 10. The central core 29 is for example formed of aramid fiber and may have a load at break of the order of 100 daN so as to play also a role of traction of the apparatus 10.
    The cable 20 also comprises a braid 30 enveloping the main conductors 22, the neutral conductor 25, the optical fiber 28 and the central core 29.
    The braid 30 is for example formed of viscose coated with acrylic and has a diameter of about 3.6 mm.
    The cable 20 illustrated in Figure 3 here has a linear density of between about 20 g / m and about 30 g / m.
    It will be noted that the assembly formed at least of the cable 20 of the power supply source 16 forms a power supply system 21 of the apparatus 10.
    In this power supply system, supply and routing to the apparatus 10 of a three-phase AC high voltage makes it possible to satisfy the needs, in particular instantaneous power, of this apparatus 10. It will be noted that the apparatus 10 may for example require a power of the order of 2 kW to 5 kW.
    The supply by the power source 21 of a three-phase AC high voltage makes it possible, for a given power, to reduce the intensity supplied and thus transited in the cable 20.
    The cable 20 thus travels electrical energy having a three-phase AC high voltage and a low intensity, which makes it possible to use a cable of small diameter and therefore having a reduced linear density and reduced Joule losses.
    It will be noted that for a given weight, the reduction of the linear density of the cable 20 advantageously makes it possible to increase the length thereof. The power supply system therefore allows the device to have a particularly large radius of action for a teleoperated captive device.
    We will now describe in more detail this power system and the elements related to this power system with reference to Figures 4 to 6.
    FIG. 4 is a block diagram of elements of the power supply system, associated in particular with elements of an electrical management system and a data management system, at the level of the vehicle 1 and in particular on the the chassis 3, towards the apparatus 10.
    These power supply and electrical management systems comprise the cable 20 connected at one end to the main body 15 of the apparatus 10 and, at an opposite end, to a drum configured to unwind and wind up the electric cable 20.
    These power supply and electrical management systems also comprise the power supply source 21 formed here by a generator, for example a diesel generator, having a nominal power of about 6.5 kVA and having a so-called neutral IT regime, with in particular a neutral conductor isolated from the ground.
    The power source 21 may be configured to provide electrical power having a three-phase high-ac voltage having a value between about 350 V and about 700 V and an intensity value of less than 10 A.
    This power source 21 is connected, via a power cable 100, to a conditioning device 32 which is configured to transfer, via a power cable 101, the electrical energy having a three-phase high-ac voltage first to a control device 33 of the drum 31, then to the cable 20 wound on the drum 31, via a power cable 102 connecting the drum 31 to its control device 33.
    It will be noted that the conditioning device 32 is furthermore connected to the control device 33 of the drum 31, via a control cable 200 for electrically feeding the control device 33 and / or for providing / receiving control instructions, and also via a another power cable 103 for controlling the winding and unwinding of the drum 31 according to predetermined parameters.
    Here, the term "power cables" refers to cables capable of passing electrical energy having a high-voltage three-phase AC having a value of between about 350 V and about 700 V and a value of intensity of less than 10 A. of cables having four conductors, one conductor per phase and one neutral conductor.
    These cables can further transmit power line data in line so that they can be communicating unidirectionally or bidirectionally.
    Here, control cables are understood to mean cables (single-conductor or multi-conductor) capable of passing electrical energy having a low DC voltage, for example of the order of 12 V to less than 100 V, and which may furthermore passing power line data in line so that they can be communicating unidirectionally or bidirectionally.
    The power supply and electrical management systems further comprise a control device 34 of the holding system 8, including the platform 9 and the locking device 11.
    This control device 34 of the holding system 8 is connected, via a control cable 201 and also via a semi-power cable 300, firstly to electrically power the control device 34 and / or to provide / receive control instructions, and secondly to control the displacement of the platform 9 and / or the locking / unlocking of the rotary wing of the apparatus 10 by the blocking device 11.
    The term "semi-power cables" is used here to mean cables capable of transmitting electrical energy having a medium DC voltage, for example of the order of 230 V, which can furthermore transmit power line data in line so that that they can be communicating, unidirectionally or bi-directionally.
    The holding system 8 is thus connected via a plurality of control cables 202 to the control device 34 of this holding system 8.
    The power supply and electrical management systems also comprise a control device 35 called cabin, connected via a control cable 203 to the control device 34 of the holding system 8, and which makes it possible, in particular, to supply / receive commands / instructions from controls both to / from the holding system and to / from the device. Note that this control device 35 cabin is configured to communicate with a computer 37 (see below).
    The power supply and electrical management systems also comprise a so-called backup energy storage unit 36, here a 24 V and 20 Ah type battery, connected to the control device 34 of the holding system 8 via a control cable. 204.
    The data management system illustrated in FIG. 4 is provided, at the level of the chassis 3, with a computer 37 intended for control and control of the mission carried out by the apparatus 10 and a data link terminal. 38 connected to the computer 37 by a computer cable 400, here Ethernet type. This computer 37 is configured to communicate, for example by a wireless link or alternatively by a wire link (not shown), with the control device 35 said cabin.
    This data link terminal 38 is also connected to the conditioner device 32 via a control cable 205 and to the cable 20 by an optical fiber 401.
    It will be noted that the conditioner device 32 is not illustrated in detail but may comprise for example a microcontroller, a disconnector, contactors, a differential protection, a circuit breaker, a thermal relay, control relays, transformers, current measurement, an in-line carrier data receiver, filters (especially for in-line carrier data and for the so-called third rank harmonic generated in the three-phase AC electrical system) and / or resistors. It will also be noted that the conditioning device 32 can be connected to the earth.
    FIG. 5 shows a block diagram of elements of the power supply, electrical management and data management systems, at the level of the device 10, and therefore on board.
    These systems are provided, at the device 10, with a power management and conversion device 39 connected to the three conductors 22 and to the neutral conductor 25 of the cable 20.
    The energy management and conversion device 39 is configured to rectify the three-phase high-voltage supply delivered by the source 21 and conveyed by the cable 20, in a high DC voltage and also to lower the high DC voltage rectified in low DC voltage. .
    The conversion by the energy management and conversion device 39 embedded in the apparatus 10, from the high-voltage three-phase AC conveyed by the electric cable 20 to a low DC voltage, is particularly convenient since it makes it possible to use a machine rotating electrical 16 and systemic elements embedded in the apparatus 10 which are powered by a low DC voltage.
    At the input of the energy management and conversion device 39, the electrical energy may have a voltage value of, for example, approximately 500 V and an intensity value of not more than 4 A, and at the output of the management device and energy conversion 39, the electrical energy may have a voltage value of between about 36 V and about 50 V and an intensity value of not more than 80 A.
    The energy management and conversion device 39 is connected, via a control cable 206 and also via a computer bus 402, to a flight calculator device 40.
    Such a flight calculator device 40 may comprise, for example, a flight computer package, an optical fiber modem connected to the optical fiber 28 of the cable 20, an inertial unit for the navigation of the device 10 and in particular to be connected via cables / computer and communication buses to a flight control assembly controlling the actuators for controlling the aircraft, to a geolocation system for example located in the hood 18 of the aircraft 10, and the video and / or photo sensors 19 housed in the main body 15 between the feet 17 of the apparatus 10.
    The energy management and conversion device 39 is furthermore connected, via a control cable 207 connected by stitching (at a tap point) to the control cable 206, to a motor controller 41. This motor controller 41 is configured to electrically power the rotating electrical machine 16 (and thus the rotation of the blades 13), via several control cables 208. Here, there are three control cables 208 which feed three coils (or six half-coils connected two by two ) arranged in the brushless motor.
    The motor controller is also connected via two communication cables 403 and 404, here respectively of the PPM type and of the TTL type, to the flight calculator device 40.
    These systems are furthermore provided, at the level of the apparatus 10, with a power storage unit 42, here a so-called buffer battery capable of delivering, for example, up to 80 A in discharge and receiving, for example, 10 A in charge.
    This buffer battery 42 is connected to the flight calculator device 40 via a computer bus 405, and is also connected to a current measuring device 43 via a control cable 209.
    This current measurement device 43 is also connected on the one hand to the power management and conversion device 39 via an analog cable 406 and on the other hand to the motor controller 41 via a control cable 210 which is connected. by a tap (at a tap) on the control cable 207 connecting the motor controller 41 to the power management and conversion device 39.
    The buffer battery 42 is thus connected in parallel with the power management and conversion device 39.
    The energy management and conversion device 39 and the buffer battery 42 can both be used to power the rotating electrical machine 16 and the flight calculator device 40, respectively via the control cables 206 and 207 for the management device. and energy conversion 39, and via the control cables 209, 210, 207 and 206 for the buffer battery 42.
    FIG. 6 illustrates in greater detail the energy management and conversion device 39, which comprises a continuous AC three-phase rectifier 44 configured to convert the high-voltage AC three-phase to a high-DC voltage, a first group of several continuous DC converters. 45 (here three in number), connected to a positive output branch of the continuous AC three-phase rectifier 44 and configured to regulate the continuous high voltage DC, as well as a second group of several DC continuous converters 46, connected to (here also three in number) a negative output branch of the AC DC rectifier 44 and configured to also regulate the continuous high voltage DC low voltage.
    The power management and conversion device 39 further comprises a control and control unit 47 configured to control the continuous AC three-phase rectifier 44 and / or and the first and second groups of a plurality of DC DCs 45 and 46 in accordance with one another. the instantaneous power required for the device 10.
    Such a control and control unit 47 may comprise, for example, a microcontroller, a module for managing the balancing of currents on the positive and negative branches of the three-phase rectifier 44, a module for managing the buffer battery 42, a module managing an on / off control of the apparatus 10 and / or one or more auxiliary power supplies.
    This control and control unit 47 can receive via the analog cable 406 information representative of the charging / discharging current of the buffer battery 42 measured by the current measuring device 43; can send an on / off command, denoted M / A in Figure 6, of the apparatus 10; and is connected to the flight calculator device 40 via the computer bus 402.
    It will be noted that the continuous AC three-phase rectifier 44 may be configured to rectify the received AC electrical energy into a DC electrical energy having a high DC voltage having a value between about +/- 300 V and about +/- 600 V, and an intensity value also less than 10 A, and more particularly here +/- 410 V and at most 5 A.
    The positive and negative values of the rectified DC high voltage correspond to the two branches, positive and negative, also called rails, of the three-phase rectifier 44.
    It will also be noted that the first and second groups of a plurality of continuous DC converters 45 and 46 may be configured to regulate the rectified DC electrical energy into electrical energy having a low DC voltage having a value between about 30 V and about 70 V and an intensity value of between 30 A and 60 A, and more particularly here 50 V and at most 80 A.
    More specifically, in FIG. 6, the power management and conversion device 39 comprises an input device 48 having a primary filter connected to the main conductors 22 and to the neutral conductor 25 of the cable 20.
    This input device 48 is connected via a power cable 210 to the continuous AC three-phase rectifier 44.
    The energy management and conversion device 39 furthermore comprises an on-line carrier transmitter 49 connected via a communication cable 407, here of the RS-232 type, to the control and control unit 47 and an extension 408 of the communication cable 407, to the input device 48 which is also provided with an in-line carrier data injector.
    It should be noted that this in-line carrier transmitter 49 is configured to inject into one of the main conductors 22 of the cable 20 representative information of instantaneous power to be supplied to the apparatus, which information passes via the power cables 102 and 101 at least to the conditioner device 32.
    The energy management and conversion device 39 further comprises an insulation isolator 50 of the neutral conductor 25 of the cable 20, which isolation controller 50 is connected to the input device 48 via a power cable 211 and , to the control and control unit 47 via an analog cable 409.
    The energy management and conversion device 39 also comprises rectified current measurement devices 53 and 54, respectively connected to the output of the positive and negative branches of the continuous AC three-phase rectifier 44, via respective power cables 214 and 215 which are extended respectively to the first and second groups of several continuous DC converters 45 and 46, which are connected thereto.
    The energy management and conversion device 39 also comprises rectified voltage measuring devices 51 and 52, connected to the positive and negative branches of the continuous AC three-phase rectifier 44 via taps 212 and 213 made on the power cables. 214 and 215 respectively.
    It should be noted that each of the voltage and rectified current measurement devices 51 to 54 is connected via analog cables 410 to the control and control unit 47.
    The first group of several continuous DC converters 45 is connected, at the output, to the control cable 206 for powering the rotating electrical machine 16 and the flight calculator device 40.
    The second group of several continuous DC converters 46 is also connected, at the output, to the control cable 206 by a control cable 217 stitched (at a tap point) on this control cable 206.
    The energy management and conversion device 39 also comprises regulated (or lowered) voltage measuring devices 55 and 56, which are connected at the output of the first and second groups of several continuous DC converters 45 and 46, respectively via the control cable 206 and via a control cable 218 stitched (at a tap) on the control cable 217.
    Note that the control and control unit 47 is here connected, via analog cables 411, at the input of the first and second groups of several continuous DC converters 45 and 46, in particular to manage the charging / discharging of the buffer battery 42 ; that this control and control unit 47 is also connected, via a control cable 216, at the output of the first and second groups of several continuous DC converters 45 and 46, in particular to manage the on / off control of the apparatus 10; and that this control and control unit 47 is also connected, via an analog cable 219, at the output of the regulated voltage measuring devices 55 and 56.
    In variants not shown: - the vehicle is not a pickup and the chassis of the holding system is mounted on the roof of the vehicle; - The frame of the holding system is directly formed by the vehicle body for example pickup; - the teleoperated device is not airborne but rather marine or submarine and the vehicle is not a land vehicle but is adapted to the type of teleoperated device; - the device has several rotating electrical machines; - The device has more or less embedded electronics that the particular systemic elements mentioned above; the first and second groups of converters are each provided with more than three or less than three converters; - the device has more than two sets of blades; the lateral wall is not cylindrical but rather semi-cylindrical or has another shape; - The platform is fixed and the side wall is movable relative to the platform, and in particular the side wall is for example movable by tilting or moved by a lever arm; and / or - the platform and the sidewall are both movable relative to each other.
    It is recalled more generally that the invention is not limited to the examples described and shown.
    权利要求:
    Claims (13)
    [1" id="c-fr-0001]
    A power supply system for a teleoperated captive device (10), having a power source (21) configured to provide electrical power, and an electrical cable (20) electrically connected to said power source (21) and configured to convey said electrical energy to said captive teleoperated apparatus (10) for powering at least one rotating electrical machine (16) and / or systemic elements embedded in said captive teleoperated apparatus (40); characterized in that said power source (21) is configured to provide a three-phase AC high voltage, said power cable (20) is configured to route said three-phase AC high voltage, and said system further comprises a management device and energy conversion device (39) embedded in said captive teleoperated apparatus (10) and configured to rectify said received three-phase AC high voltage to a high DC voltage and to lower said DC high voltage to DC low voltage.
    [2" id="c-fr-0002]
    The system of claim 1, characterized in that said power source (21) is configured to provide a three-phase high-ac voltage having a value between about 350 V and about 700 V and said management and conversion device of energy (39) is configured to rectify said three-phase AC high voltage received into a high DC voltage having a value between about +/- 300 V and about +/- 600 V, and to lower said high voltage DC at low voltage continuous having a value of between about 30 V and about 70 V.
    [3" id="c-fr-0003]
    3. System according to one of claims 1 and 2, characterized in that said electric cable (20) comprises three main conductors (22) insulated and each formed of a plurality of strands (24), a neutral conductor (25). ) and a braid (30) enveloping the main and neutral conductors (22, 25).
    [4" id="c-fr-0004]
    4. System according to claim 3, characterized in that it is further configured to transmit from said teleoperated captive device (10) information representative of instantaneous power to supply said apparatus and to communicate said representative power information to said source of power. in-line carrier power supply via at least one of said main conductors (22) of said electrical cable (20).
    [5" id="c-fr-0005]
    5. System according to one of claims 3 and 4, characterized in that said electric cable (20) further comprises an optical fiber (28) configured to pass via said electric cable data from and to said teleoperated captive device ( 10).
    [6" id="c-fr-0006]
    6. System according to any one of claims 3 to 5, characterized in that said electric cable (20) further comprises a central core (29) configured to provide a mechanical retaining function of said teleoperated captive device (10).
    [7" id="c-fr-0007]
    7. System according to any one of claims 1 to 6, characterized in that said electric cable (20) has a length greater than 50 m and less than about 200 m and said system comprises a drum (31) configured to unwind and winding said electric cable.
    [8" id="c-fr-0008]
    8. System according to any one of claims 1 to 7, characterized in that said energy management and conversion device (39) comprises a continuous AC three-phase rectifier (44) configured to convert said high-voltage three-phase high voltage. DC voltage, a first group of a plurality of continuous DC converters (45), connected to a positive output branch of said AC DC rectifier (44) and configured to regulate said DC high voltage at low DC voltage, and a second group of a plurality of continuous DC converters (46), connected to a negative output branch of said DC AC rectifier (44) and configured to also control said DC high voltage at low DC voltage.
    [9" id="c-fr-0009]
    9. System according to claim 8, characterized in that said power management and conversion device (39) further comprises a control and control unit (47) configured to control said continuous AC three-phase rectifier (44) and said first and second groups of a plurality of continuous DC converters (45,46) as a function of the instantaneous power required by said apparatus (10).
    [10" id="c-fr-0010]
    10. System according to claim 9, characterized in that said energy management and conversion device (39) further comprises a plurality of sensors (51-56) configured to measure the voltage and / or the output current of said AC continuous rectifier (44) and / or output of said first and second groups of a plurality of continuous DC converters (45, 46), said sensors (51-56) being controlled by said control and control unit (47).
    [11" id="c-fr-0011]
    11. System according to claim 3, characterized in that said energy management and conversion device (39) further comprises an isolation controller (50) of said neutral conductor (25).
    [12" id="c-fr-0012]
    12. System according to any one of claims 1 to 11, characterized in that it further comprises a buffer energy storage unit (42) electrically connected to said energy management and conversion device (39) and configured to supply, in parallel, said at least one rotating electrical machine (16) and / or said embedded systemic elements (40) in said captive teleoperated apparatus (10).
    [13" id="c-fr-0013]
    13. System according to any one of claims 1 to 12, characterized in that said power supply source (21) is formed by a diesel generator having a nominal power of about 6.5 kVA and having a driver. isolated neutral of the earth.
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    同族专利:
    公开号 | 公开日
    WO2017212181A1|2017-12-14|
    FR3052364B1|2018-07-13|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US6325330B1|1998-08-18|2001-12-04|Lockheed Martin Corporation|Power generation, transmission, and distribution system for an aerostat using a lightweight tether|
    US20070200027A1|2006-02-24|2007-08-30|Johnson Samuel A|Aerial robot|
    US20130233964A1|2012-03-07|2013-09-12|Aurora Flight Sciences Corporation|Tethered aerial system for data gathering|
    US20150184639A1|2013-12-31|2015-07-02|Google Inc.|High Frequency Bi-directional AC Power Transmission|CN111645858A|2020-06-03|2020-09-11|江苏和正特种装备有限公司|Mooring module for unmanned gyroplane and unmanned gyroplane|
    IT201900009534A1|2019-06-19|2020-12-19|E Novia S P A|Drone and its attitude control method|
    TWI652204B|2018-05-24|2019-03-01|國防部軍備局生產製造中心第２０５廠|Power monitoring method for a drone|
    CN112265650B|2020-10-28|2022-02-18|卓旺航空科技产业股份有限公司|Unmanned aerial vehicle is 250 meters directional acquisition water mooring system under water|
    CN112623252A|2020-12-25|2021-04-09|中国电子科技集团公司第五十四研究所|Tethered unmanned aerial vehicle system based on vehicle-mounted platform|
    法律状态:
    2017-05-12| PLFP| Fee payment|Year of fee payment: 2 |
    2017-12-15| PLSC| Search report ready|Effective date: 20171215 |
    2018-05-25| PLFP| Fee payment|Year of fee payment: 3 |
    2020-06-30| PLFP| Fee payment|Year of fee payment: 5 |
    2021-06-22| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1655400A|FR3052364B1|2016-06-10|2016-06-10|ELECTRICAL POWER SUPPLY SYSTEM OF A CAPTIVE TELEOPERED APPARATUS|
    FR1655400|2016-06-10|FR1655400A| FR3052364B1|2016-06-10|2016-06-10|ELECTRICAL POWER SUPPLY SYSTEM OF A CAPTIVE TELEOPERED APPARATUS|
    PCT/FR2017/051455| WO2017212181A1|2016-06-10|2017-06-09|System for supplying power to a captive remote-operated device|
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