• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a power supply device for a wired system for a drone (1). The device according to the invention comprises at least one power converter (4) on the ground and a power converter (2) on the drone (1), a regulation at the ground converter ensures that the output voltage of the converter of power (4) on the ground increases when the output intensity of the power converter (4) on the ground increases. The method according to the invention is intended for all wireline drones whose wire (3) serves for the power supply of the drone (1).
    公开号:FR3053259A1
    申请号:FR1670361
    申请日:2016-07-01
    公开日:2018-01-05
    发明作者:Frank Calvez Cyril；Herve Marc Marie Penet Timothee；Guilhem de Marliave；Bernard Francois Dubois Olivier
    申请人:Elistair；
    IPC主号:
    专利说明:

    TITLE: power device for wired drone
    TECHNICAL FIELD OF THE INVENTION
    The invention relates to a power supply device for maximizing the electric power transmitted by a wired power supply system for rotary-wing drones, the drone being connected to the ground by a wire. A drone means a flying machine controlled remotely by means of a control device. The so-called rotary wing drones include all forms of known model helicopters. The wire concerned by the invention has at least the function of powering the drone. The wire thus comprises at least two strands of electrical supply. The wire often has other functions. For example, another function of the wire can be the transfer of data, for example via an optical fiber or the technique known as Line Carrier Currents. The wire must have suitable mechanical characteristics: it often has a strand of aramid which provides high tensile strength. The wire can include any other strand, so as to transfer something between the ground and the drone. All these strands are generally united in a sheath, the sheath constituting the visible part of the wire.
    At the mechanical level, a wired system for drone often includes a ground base, a wire, and a device for hanging the wire from the drone. The base on the ground generally comprises a wire winding drum, a motor allowing the rotation of the drum. The wired system can also be reduced to its simplest expression, that is to say a wire connected on one side to the drone and on the other side to the ground.
    A power supply device for a wired system generally comprises:
    - a device for connection to an external source of electrical energy, for example a battery on the ground, or the electrical network,
    - a power converter which converts the intensity-voltage couple from the external source to an intensity-voltage couple which circulates in the wire,
    - a wire as described above,
    - a power converter on the drone which converts the intensity-voltage couple circulating in the wire to the intensity-voltage couple usable by the drone. This power converter is chosen to be as light as possible, to increase the payload of the drone.
    PRIOR ART
    To increase the range of wired drones and their payload, we use ge3053259
    - 2 general lightest possible power strands, therefore the thinnest possible. The counterpart of the fineness of the strands is the heating of the wire when the intensity which traverses the strands is high. This heating can lead to deterioration of the wire at too high an intensity. In the case where the wire is wound on a drum, the deterioration generally takes place at the level where the wire is wound, especially if it is wound in several thicknesses. The part of the wire that is unwound is rarely damaged because it is cooled by the ambient air. Generally, a floor base with a wire winding drum is provided with a fan to cool the wire wound on the drum.
    To increase the power delivered to the drone, we manage to choose an intensity-voltage couple traversing the wire such that the intensity is low, and the voltage high. Thus the power converter located on the ground generally increases the voltage, while the converter located on the drone lowers the voltage.
    In general, the power converter from the base to the ground delivers a fixed voltage to the wire. The voltage at the input of the drone's power converter decreases the more the intensity traversing the wires is high, due to Ohm's law and the resistance of the electrical strands of the wire. The disadvantages of this fixed voltage at the output of the power converter from the base to the ground are twofold:
    1. At high power, the power converter of the drone is supplied with a lower voltage than at low power: the power converter placed on the drone does not operate at its point of optimal efficiency over the entire power range,
    2. At high power, the drop in voltage at the input of the drone power converter may possibly cause the drone to stop functioning because the voltage drops below the operating threshold of the drone or of the drone power converter.
    STATEMENT OF THE INVENTION
    The power supply device according to the invention overcomes these drawbacks and increases the maximum power of use of the drone.
    According to a first characteristic, the power supply device comprises at least one power converter on the ground and one power converter on the drone.
    According to a second characteristic, regulation of the ground power converter ensures that the voltage Ub delivered by the ground power converter increases when the intensity Ib delivered by the ground power converter increases, and this
    - 3 on the normal use power range of the drone.
    NOTES USEFUL FOR UNDERSTANDING VARIATIONS OF THE INVENTION AND USED THROUGHOUT THE DOCUMENT
    Ub designates the voltage at the output of the ground power converter.
    Ib denotes the intensity at the output of the ground power converter. Ib therefore flows through the power strands of the wire, and is the power intensity of the power converter on the drone.
    Rp denotes the resistance of the wire, that is to say the resistance of the two supply strands of the wire.
    Tp denotes the temperature of the wire, Ta denotes the ambient temperature.
    Up> designates the voltage at the input of the drone power converter.
    Pm denotes the effective power available for the drone engines.
    VARIATIONS OF THE INVENTION
    According to variations of the invention,
    - the regulation compensates for the voltage drop between the output of the power converter on the ground and the input of the power converter of the drone, due to the resistance Rp of the wire,
    - the regulation ensures a constant voltage Up> at the input of the power converter on the drone, close to the optimal operating voltage of the power converter on the drone,
    - the voltage U b delivered by the power converter on the ground increases linearly with the intensity, according to an affine law of the type U b = Uq + RbIb where Uq designates a constant voltage, close to the optimal supply voltage of the converter power of the drone, and Rb denotes a constant approximately equal to the resistance Rp of the wire,
    - the previous constant Uq is replaced by a function Uq (Ib), such that this function is close to the function which describes the optimum supply voltage of the power converter of the drone as a function of the supply intensity,
    - account is taken of the variation in resistance Rp of the wire feed strands with temperature, for example by measuring the temperature of the wire in one or more places, or measuring the ambient temperature, or of them,
    - the resistance Rp of the wire is re-evaluated regularly using the measures of Up, Up>, Ib and Ohm's law,
    - the regulation is based on a control of the class of controls of the
    - 4 first order or allowing not to obtain excessive oscillations in the voltage, even following a sudden variation in the power consumed by the drone,
    - a circuit on the drone, inserted between the wire and the power converter of the drone, comprises at least one element of the capacitive type and absorbs voltage variations during a sudden variation in the power consumed by the drone,
    - the power converter at the drone level has a fixed ratio,
    - U b is directly slaved to the measurement of Ud, the value of Ud being transmitted via the wire.
    - the regulation maximizes the Pm / T p ratio or, which is equivalent, the Pm / Ib ratio, Pm denoting the power available for the drone engines, Tp the temperature of the wire, and Ib the current flowing in the wire.
    SUMMARY DESCRIPTION OF THE FIGURES
    FIG. 1 represents a drone (1) provided with a power converter (2) connected by a wire (3) to a base on the ground (5) provided with a power converter (4) connected to the sector (6) .
    FIG. 2 makes it possible to compare the voltages U b and Ud as a function of the intensity Ib for a conventional supply device (FIG. 2a) and a supply device according to a particular embodiment of the invention (FIG. 2b) . In solid line, the voltage Up in Volt is represented as a function of the intensity Ib in Ampere, in dotted line the voltage Ud in Volt as a function of the intensity Ib in Ampere. We see that the voltage Ud available for the drone (1) drops with the power requested for a conventional power supply device, while the voltage Ud available for the drone (1) remains constant whatever the power required for the device d 'power supply according to a particular embodiment of the invention.
    FIG. 3 illustrates the reaction of various power supply devices according to the invention when the power of the drone (1) increases suddenly.
    Figure 3a shows the intensity Ib in Amps as a function of time in seconds. This intensity suddenly doubles at an instant that we call t.
    Figures 3b, 3c, 3d show the reactions as a function of time of three different feeding devices according to the principle illustrated in Figure 2b. For these three figures, we find in full line the voltage Ub as a function of time in seconds and in dotted line the voltage Ud as a function of time in seconds.
    - 5 Figure 3b corresponds to a device whose control corresponds to a second order system. We see that the voltage Ub varies greatly just after time t, which risks leading to a strong malfunction, either by overvoltage or by undervoltage.
    Figure 3c corresponds to a device whose control corresponds to a first order system. We see that the voltage Ub also varies strongly just after time t but there is no oscillation. The only possible malfunction is due to undervoltage.
    Figure 3d corresponds to the same device as in Figure 3c but we added immediately upstream of the power converter (2) of the drone (1) a small capacity to cope with voltage variations and smooth Ub Ub Figure 4 illustrates the reaction of different devices according to the invention when the power of the drone (1) suddenly decreases.
    Figure 4a shows the intensity Ib in Amps as a function of time in seconds. This intensity is brutally divided by 2 at an instant that we call t.
    Figures 4b and 4c show the reactions as a function of time of two different feeding devices according to the principle illustrated in Figure 2b. For these two figures, we find in full line the voltage Ub as a function of time in seconds and in dotted line the voltage Ub as a function of time in seconds.
    Figure 4b corresponds to the same device as that of Figure 3c, and Figure 4c corresponds to the same device as that of Figure 3d.
    It can therefore be seen that the device in FIG. 3d or 4c is optimal for the functioning of the system.
    FIG. 5a shows in dotted lines the supply voltage Ub which ensures maximum efficiency of a power converter (2) located on the drone (1) as a function of the intensity Ib which traverses the wire (3). We see here that the optimal voltage U b varies considerably with the intensity Ib at the input.
    FIG. 5b shows in full line the voltage Ub delivered by a power supply device according to the invention which makes it possible to obtain the optimal voltage Ub to provide the drone (1) with maximum power as a function of the intensity Ib BEST WAY OF CARRYING OUT THE INVENTION
    The ways of carrying out the invention and their variants which follow illustrate the invention precisely and are not limiting on other ways of making the device
    - 6 power supply according to the invention.
    An optimal embodiment of the feeding device according to the invention is carried out as follows.
    We use a drone (1) of maximum power 2600W powered by 25V DC. This drone (1) has a power converter (2) with a fixed 1/16 ratio connected to a wire. This 100m long wire consists of two electrical strands, an aramid strand, all in a plastic sheath. The resistance of the electric strands used is 0.06 ohm per meter. This wire (3) is connected to a power converter (4) in a ground base (5). The converter from the base to the ground (5) is supplied by the sector (6) with 230V AC. The floor base (5) comprises a wire winding drum, a motor connected to the wire winding drum (3) which allows the wire to be wound up or unrolled (3). A fan cools the wire winding drum (3). A temperature sensor is present on the wire winding drum (3) to warn the user of possible overheating of the wound wire (3).
    The drone (1) has various on-board instruments and communicates in real time with the base on the ground (5) using the technique known as Line Carrier Currents, well known to those skilled in the art. Information therefore travels via the power supply strands.
    The power converter (2) at the drone (1) has its maximum efficiency point at around 400V, requires not to exceed 410V at input, otherwise it stops working, and also requires never to be powered at more than 480V under penalty of irreparable deterioration. This power converter (2) having a fixed 1/16 ratio, it delivers a voltage of 25V at output for an input voltage of 400V.
    The power converter (4) at the level of the base on the ground (5) uses the so-called Power Factor Correction technique, well known to those skilled in the art. The power controller is modified so that the output voltage Ub follows the law expressed in Volt Ub = min (400 + -Rg7b, 480) where Ib is the intensity at the output of the power converter (4) expressed in Ampere, and Rb a constant expressed in Ohm, in our case equal to 12, which we have chosen equal to Rp the resistance of the wire. To obtain such a law, the modification of the power controller requires simple electronic components such as diodes, resistors, current sensors at the output of the converter, analog multipliers. Particular care is taken to ensure that the components are adjusted so that the regulation, in the event of sudden variations in power, ensures that the voltage does not undergo oscillations. Thus, the voltage at the power converter (2) of the drone (1) does not exceed 410V which would stop the conver3053259
    - 7 drone weaver (1) and the drone fall (1). The choice, the way in which the components are adjusted are known per se to those skilled in the art of electronics and do not require further explanation.
    At the input of the power converter (2) of the drone (1), the voltage Up is equal to Ub minus the ohmic losses in the wire (3), ie min (400 + 2 Β2β, 480) - RfIb Volts. Thus, as long as 2β does not exceed 80/12 = 6.7A, the voltage U b is almost constant equal to 400V.
    Given the heating of the wires at the level of the base on the ground (5), it is estimated that the current flowing in the wires should not exceed 6.7A in continuous operation. The maximum power available for the drone (1) in continuous mode is therefore equal to 400 * 6.7 = 2700 W at the input of the power converter (2) of the drone (1), and the maximum power at the output of the converter power (2) of the drone (1) is approximately equal to 2600W. With a conventional fixed voltage supply at 400V at ground level (5), the maximum available power would only be 320 * 6.7 = 2150 W at the input of the power converter (2) of the drone ( 1), and only 1800W at the output of the power converter (2) because the efficiency is not optimal at 320V.
    With our device according to the invention, we therefore obtain a power gain of 45% over the maximum power supplied to the drone (1) in continuous mode compared to a conventional system, and above all with equal heating of the wires.
    In the embodiment of the device according to the preceding invention, the variation in the resistance Rp of the supply strands with temperature is not taken into account. The power strands of this first embodiment are made of copper, and the resistivity of copper varies with temperature: the resistivity increases by about 50% between -20 degrees Celsius and 70 degrees Celsius. To take into account the change in resistance Rp of the wire (3) as a function of the temperature, two variations of the embodiment are possible.
    The first variation of the first embodiment according to the invention consists in using the information from the temperature sensor on the wire winding drum. The temperature measured by this sensor is called Tp. In addition, a tachometer on the wire winding drum (3) allows to know the length l of the wire (3) still wound on the drum. Finally, a temperature sensor on the ground base (5) can estimate the temperature of 2% of the ambient air. We then notice that the resistance Rp of the wire (3) is a function / of 2%, Tp, and l: Rp = f (TA, Tp, l), a function that has been determined theoretically and verified experimentally. The power converter output law (4) is then replaced by the law Up = πιϊη ([/ β - / (2%, Tp, l) Ip, 480).
    - 8 The second variation of the embodiment according to the invention consists in regularly measuring, every minute, Ud the voltage at the input of the power converter (2) located on the drone (1), U b the output voltage of the power converter (4) from the base to the ground (5), and Ib the current flowing in the wire. The measurement of Ud is sent to the base on the ground (5) via the line carrier current technique. The resistance Rp of the wire supply strands (3) is then reassessed by Ohm's law, by dividing the difference Ub - Ud by Ib, and the regulation regulates according to the min law (400 + 7 T 7,400) .
    Another variation of the embodiment of the invention consists in carrying out voltage regulation Ub of the software type and not electronic as described above.
    A third variation of the embodiment according to the invention consists in regulating Ub directly on the measured value of Ud, this then requires a measurement of Ud at high frequency, very significantly higher than the Herz, preferably of the order of ten kiloHerz.
    The ways of carrying out the invention and their variants set out above illustrate the invention precisely and are not limiting on the other ways of making the supply device according to the invention.
    POSSIBILITIES OF INDUSTRIAL APPLICATIONS
    The power system according to the invention is capable of powering all wired drones insofar as it makes it possible to increase the range and the payload compared to the existing power systems.
    权利要求:
    Claims (12)
    [1" id="c-fr-0001]
    1) Device for supplying power to a wired drone (1), characterized in that:
    (i) the device comprises at least one power converter (4) on the ground and one power converter (2) on the drone (1), (ii) regulation of the power converter (4) on the ground ensures that the voltage U b delivered by the power converter (4) on the ground increases when the intensity Ip delivered by the power converter (4) on the ground increases, and this over the range of power of normal use of the drone (1).
    [2" id="c-fr-0002]
    2) Device according to the preceding claim, characterized in that the regulation at least partially compensates for the voltage drop between the output of the power converter (4) on the ground and the input of the power converter (2) of the drone (1) , due to the resistance Rp of the wire.
    [3" id="c-fr-0003]
    3) Device according to one of the preceding claims, characterized in that the regulation provides a voltage Up> at the input of the power converter (2) of the drone (1) close to the optimal operating voltage of the power converter (2) drone (1).
    [4" id="c-fr-0004]
    4) Device according to one of the preceding claims, characterized in that the voltage U b delivered by the power converter (4) to the ground increases linearly with the intensity, according to an affine law of the type U b = Uq + RbIb where Uq denotes a constant voltage, close to the optimum supply voltage of the power converter (2) of the drone (1), and Rb denotes a constant approximately equal to the resistance Rp of the wire.
    [5" id="c-fr-0005]
    5) Device according to the preceding claim, characterized in that the constant Uq is replaced by a function Uq (Ib), such that this function is close to the function which describes the optimum supply voltage of the power converter (2) of the drone (1) depending on the power intensity.
    [6" id="c-fr-0006]
    6) Device according to one of the preceding claims, characterized in that account is taken of the variation of the resistance Rp of the wire supply strands (3) with the temperature, for example by means of a temperature measurement wire (3) in one or more places, or the measurement of the ambient temperature, or both.
    [7" id="c-fr-0007]
    7) Device according to one of the preceding claims, characterized in that the resistance Rp of the wire (3) is regularly re-evaluated using measurements of Ub, Ud, Ib and of Ohm's law.
    [8" id="c-fr-0008]
    8) Device according to one of the preceding claims, characterized in that the regulation is based on a control of the class of controls of the first
    - 10 order or allowing not to obtain voltage oscillations, even following a sudden change in the power consumed by the drone (1).
    [9" id="c-fr-0009]
    9) Device according to one of the preceding claims, characterized in that a circuit on the drone (1), interposed between the wire (3) and the power converter (2) of the
    5 drone (1), comprises at least one capacitive element and absorbs voltage variations during a sudden variation in the power consumed by the drone (1).
    [10" id="c-fr-0010]
    10) Device according to one of the preceding claims, characterized in that the power converter (2) at the level of the drone (1) has a fixed ratio.
    [11" id="c-fr-0011]
    11) Device according to one of the preceding claims, characterized in that U b 10 is directly controlled by the measurement of f / β, the value of Up> being transmitted via the wire.
    [12" id="c-fr-0012]
    12) Device according to one of the preceding claims, characterized in that the regulation maximizes the Pm / Tp ratio or, which is equivalent, the Pm / Ib ratio, Pm designating the power available for the engines of the drone (1), Tp the temperature of the wire, and I B the intensity flowing in the wire.
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    同族专利:
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    US20200091834A1|2020-03-19|
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    法律状态:
    2017-06-21| PLFP| Fee payment|Year of fee payment: 2 |
    2018-01-05| PLSC| Search report ready|Effective date: 20180105 |
    2018-03-14| PLFP| Fee payment|Year of fee payment: 3 |
    2020-05-29| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1670361A|FR3053259B1|2016-07-01|2016-07-01|POWER SUPPLY FOR WIRED DRONE|
    FR1670361|2016-07-01|FR1670361A| FR3053259B1|2016-07-01|2016-07-01|POWER SUPPLY FOR WIRED DRONE|
    CN201780039725.3A| CN109414624A|2016-07-01|2017-06-21|The device powered to wired unmanned plane|
    EP17743079.0A| EP3478386B1|2016-07-01|2017-06-21|Device for supplying power to a wired drone|
    US16/233,752| US11059580B2|2016-07-01|2017-06-21|Device for supplying power to a wired drone|
    PCT/IB2017/053683| WO2018002775A1|2016-07-01|2017-06-21|Device for supplying power to a wired drone|
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