Research And Development Of UAV Battery Management System Based On Cyber-Physical Systems

In order to cope with the increasingly complex requirements of tasks,while continuously improving the autonomy and intelligence,unmanned aerial vehicle(UAV)executing multi-objective complex tasks through the way of swarm cooperation has gradually become a research hotspot.With the expansion of the scale of UAV swarm and the development of collaborative scheduling in UAV swarm,the management of routine maintenance of battery and the management of collaboration of flight energy of UAV swarm are facing great challenges.A battery management system(BMS)for UAV swarm based on Cyber-Physical Systems(CPS)is proposed in this thesis,in which the bottleneck of traditional airborne battery management system in terms of architecture,computing power and energy is broken.The cyber space composed of cloud platform is introduced to realize the uninterrupted high standard operation and maintenance for all of the UAVs’ energy in the system.Firstly,since the development of UAV swarm is still in the fast iterative phase,the architecture,composition and functions of the traditional airborne battery management system cannot meet its energy management requirements.The requirements of UAV swarm for airborne battery management system are analyzed in this thesis,and an overall design of battery management system based on Cyber-Physical Systems for UAV swarm is proposed.A set of principles of stratification is formulated for the functions of the system in the physical space and cyber space,as well as the coordinating mechanism between the physical space and cyber space is formulated.Secondly,a BMS physical space is built on the airborne terminal to meet needs of UAV swarm for the daily operation and maintenance,based on the design of traditional airborne battery management system,and combined with the principles of stratification for physical-cyber space and mobile communication technology based on narrowband Internet of things.The physical space includes:battery pack unit,battery management unit,UAV interface unit,mobile communication unit and human-computer interaction unit,as well as its program development of hardware driver layer and application layer are completed.Extended Kalman filter algorithm and Thevenin model are used to estimate the SOC of airborne battery.Finally,a BMS cyber space is built rely on the Huawei cloud platform to meet needs of UAV swarm for the daily operation and maintenance.The cyber space includes:terminal access unit,data storage unit,cluster energy statistics and calculation unit,and data visualization unit.The functions of access maintenance for UAV battery management terminal,data storage and retrieval,UAV swarm terminal battery information update statistics,battery related parameter calculation,and data visualization are completed.In this thesis,a new battery management system is developed by combining Cyber-Physical Systems and traditional battery management system,which has high practical value for routine maintenance and execution of tasks of UAV swarm.