Tsarin Ƙididdige Kuɗin Wutar Lantarki ta Rana don Jiragen Marasa Matuka na Lantarki-Rana: Haɓakawa da Tabbatar da Gwajin Tashi

1 Gabatarwa

Wannan rahoton fasaha ya faɗaɗa aikin da aka yi a baya kan tsarin ƙididdige wutar lantarki ta rana don Jiragen Marasa Matuka (UAVs). An fitar da shi tare da haɓakawa da gwajin tashi na Jirgin Marasa Matuka na AtlantikSolar na ETH Zurich, wanda ya kafa rikodin duniya tare da tashi ci gaba na sa'o'i 81. Tsarin ƙididdige wutar lantarki ta rana daidai yana da mahimmanci ga kowane lokacin ƙirar ra'ayi—hasashen ma'auni na aiki kamar juriyar tashi ($T_{endur}$) da ƙarin lokaci ($T_{exc}$)—da kuma lokacin aiki don tantance aiki. Ingancin tsarin ƙididdige wutar lantarki ta rana yana ƙayyadad da amincin waɗannan hasashe.

1.1 Tsarin ƙididdige wutar lantarki ta rana na asali

Littattafai da suka wanzu kan Jiragen Marasa Matuka masu amfani da wutar lantarki ta rana sau da yawa suna amfani da tsarukan da aka sauƙaƙe. Tsarin gama gari don ƙididdige wutar lantarki ta rana da aka tattara nan take shine:

$P^{nom}_{solar} = I_{solar}(\phi_{lat}, h, \delta, t, \vec{n}_{sm}) \cdot A_{sm} \cdot \eta_{sm} \cdot \eta_{mppt}$

Inda $I_{solar}$ shine hasken rana (aiki na latitude $\phi_{lat}$, tsayi $h$, ranar shekara $\delta$, lokaci $t$, da kuma vector na al'ada na module $\vec{n}_{sm}$), $A_{sm}$ shine yankin module, $\eta_{sm}$ shine ingancin module (gami da ƙaramin abin ragewa), kuma $\eta_{mppt}$ shine ingancin mai bin madaidaicin ƙarfin wutar lantarki. Duk da cewa ya dace da matakan ƙira na farko, wannan tsarin ba shi da ingancin da ake buƙata don cikakken bincike da warware matsaloli yayin gwaje-gwajen tashi.

1.2 Gudunmawar wannan rahoton

Wannan rahoton yana magance buƙatar tsarukan mafi inganci ta hanyar: 1) Gabatar da cikakken tsarin da ke lissafin ainihin hali na jirgin, lissafi, da tasirin zahiri (zafin jiki, kusurwar shiga). 2) Samar da tsarukan da aka sauƙaƙe waɗanda suka dace da matakan ƙira na farko. 3) Tabbatar da duk tsarukan tare da ainihin bayanan tashi daga tashin jirgin mai amfani da wutar lantarki ta rana na ci gaba na sa'o'i 28 na rana/dare.

2 Tsarin Ƙididdige Wutar Lantarki ta Rana Mai Ingantacciyar Inganci

Tsarin mai inganci da aka gabatar ya faɗaɗa sosai akan tsarin asali. Manyan haɓakawa sun haɗa da:

• Haɗakar Hali Mai Ƙarfi: Tsarin ya haɗa ainihin kusurwoyin jujjuyawar jirgin ($\phi$), tsinkaya ($\theta$), da karkata ($\psi$) don ƙididdige ainihin yanayin fakitunan rana dangane da rana, yana motsawa bayan zaton saman kwance.
• Ingancin Lissafi: Yana lissafin ainihin lissafi na 3D da kuma sanya ƙwayoyin wutar lantarki ta rana akan fuka-fuki da jikin jirgin, maimakon ɗaukar su a matsayin farantin karfe guda ɗaya.
• Tsarin Tasirin Zahiri: Yana haɗa abubuwa kamar zafin tantanin wutar lantarki (wanda ke shafar inganci $\eta_{sm}$) da asarar cosine daga kusurwoyin shigar rana marasa daidaito, waɗanda sau da yawa ake yin watsi da su a cikin tsarukan da aka sauƙaƙe.

Babban lissafin ƙarfin ya zama jimlar duk ƙwayoyin wutar lantarki ta rana ko fakitunan, kowannensu yana da nasa yanayin da yanayin gida: $P_{solar}^{HF} = \sum_{i} I_{solar, i} \cdot A_{i} \cdot \eta_{sm,i}(T) \cdot \cos(\theta_{inc,i}) \cdot \eta_{mppt}$, inda $\theta_{inc,i}$ shine kusurwar shiga don panel $i$.

3 Sauƙaƙan Tsarin don Ƙirar Ra'ayi

Sanin cewa cikakkun bayanan hali da lissafi ba su samuwa yayin ƙirar farko, rahoton ya samo tsarukan da aka sauƙaƙe daga ma'aunin inganci. Waɗannan tsarukan suna amfani da ƙananan saitin shigarwa, kamar:

• Tsarin Matsakaicin Lokaci: Yana amfani da matsakaicin hasken rana a cikin yini, wanda ya dace don ƙididdige girman da ya dace.
• Tsarin Tsarin Yini: Ya haɗa da bambancin sinusoidal na ƙarfin wutar lantarki ta rana a cikin yini, yana ba da ingantaccen daidaito don hasashen juriya ba tare da buƙatar cikakkun bayanan hanyar tashi ba.

Waɗannan tsarukan sun kafa musayar bayyananne: rage rikitarwar shigarwa don ƙananan daidaiton hasashe, yana jagorantar masu ƙira a zaɓin tsarin dangane da lokacin aikin.

4 Tabbatar da Gwajin Tashi

An gwada tsarukan sosai ta amfani da bayanan tashi daga ayyukan rikodin Jirgin Marasa Matuka na AtlantikSolar. Tashin jirgin na ci gaba na sa'o'i 28 ya ba da cikakken tsarin rana/dare na bayanai, gami da:

• An auna kuɗin shigar wutar lantarki ta rana daga tsarin wutar lantarki na UAV.
• Bayanan hali masu inganci (jujjuyawa, tsinkaya, karkata) daga na'urar auna inertial (IMU).
• Matsayin GPS, tsayi, da bayanan lokaci.
• Bayanan muhalli (zafin jiki) inda akwai.

Wannan saitin bayanai ya ba da damar kwatanta kai tsaye tsakanin hasashen ƙarfin wutar lantarki ta rana daga tsaruka daban-daban da ainihin ƙimar da aka auna.

5 Sakamako da Tattaunawa

Tabbatarwar ta samar da bayyanannun sakamako, waɗanda za a iya ƙididdige su:

Mafi girman daidaiton tsarin mai inganci yana nuna babban tasirin haɗa cikakkun bayanan hali, lissafi, da tasirin zahiri. Kuskuren kusan 18% na tsarukan da suka gabata yana da girma sosai don haifar da yanke shawara na ƙira mara kyau, kamar ƙarancin girman tsarin wutar lantarki ta rana ko ƙima da yawa na ikon tashi na dindindin.

6 Fahimtar Jiki & Ra'ayin Mai Bincike

Fahimtar Jiki: Masana'antar UAV ta wutar lantarki ta rana ta kasance tana tashi a makance, tana dogaro da tsarukan ƙarfin wutar lantarki da aka sauƙaƙe waɗanda ke haifar da kusan kuskure 20%. Wannan rahoton ba kawai haɓakawa ce ba; gyara ne na tushe wanda ke canza ƙirar UAV ta wutar lantarki ta rana daga zato zuwa daidaiton injiniya. Ma'aunin daidaiton ƙasa da 5% ya kafa sabon ma'auni, yana ba da damar kai tsaye, tashin jirage masu juriya na kwanaki da yawa waɗanda ke bayyana iyakar fagen.

Tsarin Ma'ana: Marubutan sun ƙaddamar da matsalar sosai. Sun fara ne da bayyana babban aibi a cikin tsarukan gado—halayensu na tsaye, marasa lissafi. Sa'an nan kuma sun gina tsarin inganci mai tushe akan kimiyyar lissafi wanda ke lissafin canje-canjen duniya na gaske kamar girgizar jirgin da lankwasar fuka-fuki. A ƙarshe, ba su bar masu amfani na zahiri a baya ba; sun ba da hanya bayyananne na tsarukan da aka sauƙaƙe, suna ƙirƙirar "tsawon inganci" don matakan ƙira daban-daban. Tabbatar da gwajin tashi a kan dandamali na rikodin duniya (AtlantikSolar) shine babban fasaha, yana ba da tabbataccen shaida na gaske na duniya.

Ƙarfi & Aibobi: Ƙarfin ba shakka ne: tsari mai tsauri, ingantacce wanda ke rufe babban gibin ilimi. Hanyar tana da misali, tana kwatanta ƙa'idar tabbatarwa da ake gani a cikin manyan takaddun robotics da ML, kamar waɗanda daga taron Robotics: Science and Systems, inda ake gwada canja wurin kwaikwayo zuwa na gaske sosai. Duk da haka, aibin yana ɗaya ne na iyaka. An daidaita tsarin sosai don UAVs masu fuka-fuki masu fuka-fuki tare da fakitunan da aka sanya akan fuka-fuki. Tsalle zuwa jiragen sama masu jujjuyawa ko masu canzawa, inda canje-canjen hali suka fi tashin hankali da sauri, ba abu ne mai sauƙi ba kuma ba a magance shi ba. Hakanan yana ɗaukar ingantaccen hankali na hali, wanda ƙila ba zai samuwa akan dandamali masu ƙarancin farashi ba.

Fahimtar Aiki: Ga masu haɓaka UAV: Nan da nan karɓi wannan tsarin mai inganci don cikakken ƙira da binciken gwajin tashi. Yi amfani da tsarukan da aka sauƙaƙe don ƙididdige girman farko, amma koyaushe a yi kasafin kuɗi don rashin tabbas na kusan 18% da suke ɗauka. Ga masu bincike: Iyakar gaba ita ce tsarin kwaikwayo na ainihin lokaci, mai daidaitawa. Haɗa wannan tare da algorithms na sarrafa tsarin ƙira (MPC)—kamar yadda tsarin cin gashin kai na zamani ke amfani da tsarin fahimta don tsarawa—don ba da damar UAVs su daidaita hanyar tashinsu don haɓaka yawan wutar lantarki ta rana, ƙirƙirar tsarin cin gashin kai na gaske masu sane da makamashi. Aikin kuma yana jaddada buƙatar buɗe tushe, ingantattun tsarukan makamashi, kama da gidajen kwaikwayo da cibiyoyi kamar Lab na Tsarin Cin Gashin Kai na ETH Zurich ko Lab na Kimiyyar Kwamfuta da Fasahar Wucin Gadi (CSAIL) na MIT ke kula da su, don haɓaka ci gaban masana'antu gaba ɗaya.

7 Cikakkun Bayanai na Fasaha da Tsarin Lissafi

Jigon lissafi na tsarin mai inganci ya ƙunshi canje-canjen daidaitawa da gyare-gyaren inganci.

1. Canjin Vector na Rana: Vector matsayin rana a cikin firam ɗin inertial ($\vec{s}_{ECEF}$) ana canza shi zuwa firam ɗin jikin jirgin ($\vec{s}_{B}$) ta amfani da matrix jujjuyawar hali $R_{B}^{I}$: $\vec{s}_{B} = R_{B}^{I} \cdot \vec{s}_{ECEF}$.

2. Kusurwar Shiga: Don panel ɗin wutar lantarki ta rana tare da vector na al'ada na raka'a $\vec{n}_{panel}$ a cikin firam ɗin jiki, kusurwar shiga ita ce: $\theta_{inc} = \arccos(\vec{s}_{B} \cdot \vec{n}_{panel})$. Sa'an nan kuma ingantaccen hasken rana yana auna ta $\cos(\theta_{inc})$ (dokar cosine ta Lambert).

3. Ingancin Dogaro da Zazzabi: Ingantaccen tantanin wutar lantarki ta rana yana raguwa tare da zafin jiki. Ana amfani da tsarin layi na gama gari: $\eta_{sm}(T) = \eta_{STC} \cdot [1 - \beta_{T} \cdot (T_{cell} - T_{STC})]$, inda $\eta_{STC}$ shine inganci a Yanayin Gwaji na Daidaitawa (STC), $\beta_{T}$ shine coefficient na zafin jiki (yawanci ~0.004/°C don silicon), $T_{cell}$ shine zafin tantanin wutar lantarki, kuma $T_{STC}=25°C$.

4. Lissafin Ƙarfin Gabaɗaya: Ƙarfin gabaɗaya shine jimlar duk fakitunan/ƙwayoyin $N$: $P_{total} = \eta_{mppt} \cdot \sum_{i=1}^{N} \left( I_{solar} \cdot \cos(\theta_{inc,i}) \cdot A_{i} \cdot \eta_{sm,i}(T) \right)$.

8 Sakamakon Gwaji da Bayanin Ginshiƙi

Mafi kyawun ganin sakamakon gwajin tashi ta hanyar ginshiƙin kwatancen lokaci (wanda aka bayyana a ra'ayi):

Take na Ginshiƙi: "An auna vs. Hasashen Ƙarfin Wutar Lantarki ta Rana Yayin Tashin Sa'o'i 28"

Gatari: Gatari na X: Lokacin Yini (tsawon sa'o'i 28, yana nuna fitowar rana guda biyu). Gatari na Y: Ƙarfin Wutar Lantarki ta Rana (Watts).

Layuka:

• Layi Mai Ƙarfi Shudi: An auna Ƙarfi. Yana nuna ainihin ƙarfin wutar lantarki ta rana da UAV ya tattara, tare da siffofi na kololuwar sinusoidal da rana, sifili a cikin dare, da ƙananan sauye-sauye saboda rufewar girgije ko motsin jirgin.
• Layi Dashed Ja: Hasashen Tsarin Mai Ingantacciyar Inganci. Wannan layin yana bin Layin Shudi Mai Ƙarfi sosai, tare da kusan haɗuwa da kololuwa da kwari. Ƙaramin tazara tsakanin su, wanda aka ƙididdige shi azaman kuskuren <5%, da kyar ake iya gani akan ma'aunin ginshiƙi.
• Layi Dotted Kore: Hasashen Tsarin Asali/Na Baya. Wannan layin kuma yana nuna siffar sinusoidal amma yana gudana ƙasa da kololuwar ƙarfin da aka auna, musamman da safe da yamma. Yankin tsakanin wannan layin da Layin Ƙarfin da aka Auna yana wakiltar kusan 18% matsakaicin rashin hasashe. Ya kasa ɗaukar mafi girman kuɗin shigar wutar lantarki lokacin da halin bankin jirgin ya gabatar da fuka-fuki mafi dacewa ga rana.

Mahimman Abin da ake ɗauka daga Ginshiƙi: Na gani a bayyane yana nuna ikon bin diddigin tsarin mai inganci, musamman a lokutan da ba tsakar rana ba inda tasirin hali ya fi bayyana, yayin da yake nuna rashin daidaiton tsarin da aka sauƙaƙe.

9 Tsarin Bincike: Nazarin Lamari

Yanayi: Ƙungiyar UAV ta wutar lantarki ta rana tana nazarin gwajin tashi mai ban takaici inda jirgin ya ƙare batir sa'o'i 2 kafin faɗuwar rana, duk da sararin sama.

Mataki na 1 – Ma'anar Matsala tare da Tsarin Asali: Ta amfani da tsarin gado ($P^{nom}_{solar}$), sun shigar da matsakaicin hasken rana, yankin panel a kwance, da inganci na al'ada. Tsarin ya yi hasashen isasshen ƙarfi. Ba ya ba da tushen dalili, kawai yana nuna "ƙarancin aiki" na gaba ɗaya.

Mataki na 2 – Bincike tare da Tsarin Mai Ingantacciyar Inganci:

1. Shigar Bayanai: Shigo da rajistan tashi: GPS, IMU (hali), bayanan tsarin wutar lantarki, da tsarin CAD na jirgin (don na al'ada na panel).
2. Aiwatar da Tsarin: Kaddamar da tsarin mai inganci a baya. Tsarin ya sake gina ƙarfin da ake tsammani minti-minti.
3. Nazarin Kwatancen: Software ɗin yana samar da ginshiƙin kwatancen (kamar yadda yake a Sashe na 8). Ƙungiyar ta lura cewa hasashen ƙarfin daga tsarin mai inganci kuma ya yi daidai da ƙananan ƙimar da aka auna, ba kamar tsarin asali mai kyakkyawan fata ba.
4. Keɓance Tushen Dalili: Ta amfani da haɗin kai na tsarin, sun kashe takamaiman tasiri:
   • Kashe gyaran hali yana haifar da canji kaɗan kawai.
   • Kashe gyaran inganci mai dogaro da zafin jiki ($\eta_{sm}(T)$) yana haifar da haɓakar hasashe sosai sama da ma'auni.
5. Ƙarshe: Binciken ya nuna yawan dumama tantanin wutar lantarki ta rana a matsayin babban abin laifi. Ƙwayoyin, waɗanda aka sanya su akan fuka-fuki masu duhu tare da rashin kulawar zafi, suna aiki a 70°C maimakon 45°C da ake zato, yana haifar da raguwar inganci kusan 10%. Tsarin asali, makaho ga zafin jiki, ya rasa wannan gaba ɗaya.

Sakamako: Ƙungiyar ta sake ƙirar sanyawa na panel don ingantaccen watsi da zafi, wanda ya haifar da nasarar tashin jirage na gaba. Wannan lamarin yana nuna ƙimar tsarin a matsayin kayan aikin bincike, ba kawai mai hasashe ba.

10 Ayyuka na Gaba da Jagorori

Tasirin ƙirar wutar lantarki ta rana mai inganci ya wuce UAVs masu fuka-fuki:

• Jiragen Sama Masu Jujjuyawa da VTOL UAVs: Daidaita tsarin don jirage marasa matuka masu rikitarwa, masu canzawa lokaci-lokaci babban ƙalubale ne. Wannan yana buƙatar taswirar bayyanar panel a lokacin shawagi, canzawa, da tashi gaba.
• Tsarin Tafiya Masu Sane da Makamashi: Haɗa tsarin cikin algorithms na sarrafa tashi don tsarawa mafi kyawun hanya na ainihin lokaci. UAV na iya daidaita alkiblarsa da kusurwar banki don haɓaka yawan wutar lantarki ta rana, kamar yadda jiragen ruwa masu tudu ke amfani da iska.
• Ƙungiyoyi da Cibiyoyin Sadarwa na Dindindin: Don ɗimbin UAVs na wutar lantarki ta rana waɗanda ke aiki azaman nodes na sadarwa, ingantattun tsarukan ƙarfin wutar lantarki na mutum ɗaya suna da mahimmanci don hasashen tsawon rayuwar hanyar sadarwa da inganta jadawalin relay.
• Binciken Duniya: Wannan hanyar ƙirar ta shafi kai tsaye ga motocin iska na Mars ko Venus (misali, Jirgin Sama na Mars na NASA "Ingenuity"), inda fahimtar kuɗin shigar wutar lantarki ta rana a cikin yanayi mara kyau da tare da daban-daban na rana yana da mahimmanci.
• Haɗakar Tagwayen Digital: Tsarin ya zama babban ɓangaren "tagwayen dijital" na UAV, yana ba da damar kwaikwayon inganci don horar da matukan jirgi na AI, gwada shirye-shiryen aiki, da kiyayewa na gaba.
• Daidaituwa da Buɗe Tushe: Fannin zai amfana da ɗakin karatu na buɗe tushe wanda ke aiwatar da waɗannan tsarukan (a cikin Python ko MATLAB), kama da ROS don robotics, yana ba da damar tabbatar da al'umma da faɗaɗawa.

11 Nassoshi

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4. Stein, J. S. (2012). Tsarin Wutar Lantarki ta Rana. Rahoton Sandia National Laboratories.
5. Noth, A. (2008). Ƙirar Jiragen Sama Masu Amfani da Wutar Lantarki ta Rana don Tashi Ci Gaba. ETH Zurich.
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8. Lab na Tsarin Cin Gashin Kai, ETH Zurich. (n.d.). Gidan yanar gizo na hukuma da wallafe-wallafe. [An ambata a matsayin tushe mai iko don binciken robotics da UAV].