四旋翼无人机模型预测控制能量管理研究

Nowadays, as concerns about pollution and energy shortages continue to mount, improvement of energy efficiency is a pressing challenge that demands urgent attention. This paper presents two energy management strategies –fuzzy logic control strategy and model predictive control strategy (MPC)– designed for a hybrid quadrotor unmanned aerial vehicle. The strategies combine the ideal operating line of the engine and make real-time allocation of power between the engine system and battery. The ideal operating line is utilized to ensure that the engine operates at its optimal working point at all times, thereby improving the fuel economy of the system. Energy management strategy simulations were conducted under typical mission power demand for the UAV. Making result of dynamic programming algorithm as the benchmark,the simulation results demonstrate that the fuzzy control strategy considering the ideal operating line achieves an optimal fuel consumption of 87.35%, while the MPC strategy further considering the optimal SOC trajectory of the battery achieves an optimal fuel consumption of 92.09%. The feasibility of the proposed strategies was verified through the simulation results.