WO2019042095A1 - Given rotational speed calculating method, device, electronic speed controller, power system, and unmanned aerial vehicle - Google Patents

Abstract

A given rotational speed calculating method, a device, an electronic speed controller, a power system, and an unmanned aerial vehicle. The given rotational speed calculating method comprises: acquiring a maximum rotational speed, a minimum rotational speed, and the current throttle value; acquiring at least one maximum accelerator value and at least one minimum throttle value; determining, by means of the average calculation formula, the average value of the at least one maximum throttle value and the average value of the at least one minimum throttle value; and calculating the given rotational speed according to the maximum rotational speed, the minimum rotational speed, the current throttle value, the average value of the maximum throttle values, and the average value of the minimum throttle values. Therefore, the dependency on the fixed maximum throttle value and the fixed minimum throttle value can be effectively reduced during calculation of the given rotational speed, improving the control precision of the electronic speed control.

Description

Method, device, ESC, power system and UAV for a given speed calculation

This application claims the priority of the Chinese patent application filed on August 29, 2017, the Chinese Patent Office, application number 201710757480X, and the application name is "given rotational speed calculation method, device, ESC, power system and unmanned aerial vehicle". The entire contents of this application are incorporated herein by reference.

Technical field

The embodiments of the present invention relate to the field of aircraft technologies, and in particular, to a method, a device, an ESC, a power system, and an unmanned aerial vehicle.

Background technique

The various actions (or attitudes) of unmanned aerial vehicles (such as drones) are achieved by controlling the different speeds of multiple motors. In order to more accurately control the state of the UAV (such as front, rear, left, right, up, down, etc.), the unmanned aerial vehicle's ESC, also known as the electronic governor, is necessary to accurately control the throttle signal. Analysis.

In the current technology, the commonly used analytical method for the throttle signal is a given speed calculated directly from a fixed maximum throttle value, a fixed minimum throttle value, and a given speed, as an ESC speed reference signal.

In the process of implementing the present application, the inventors have found that at least the following problems exist in the related art: when calculating a given rotational speed, it depends on a fixed maximum throttle value and a fixed minimum throttle value, and a fixed maximum throttle value and a fixed minimum throttle value. Both are specific, constant single values. Due to problems such as chip accuracy and differences in different circuits, the final calculated nominal speed error will be large. At the same time, many protection functions in the operation of the ESC-controlled UAV rely on the throttle signal. If the calculated error of a given speed is large, it will affect the accuracy of the flight system control and even bring the risk of misjudgment to the flight system. .

Summary of the invention

The main purpose of the present application is to provide a method, a device, a power system and an unmanned aerial vehicle for calculating a given rotational speed, which can effectively reduce the dependence on a fixed maximum throttle value and a fixed maximum throttle value in the process of calculating a given rotational speed. Improve the control accuracy of the ESC.

The embodiment of the present application discloses the following technical solutions:

To solve the above technical problem, the embodiment of the present application provides a method for calculating a given rotational speed, which is applied to an electrical tone, and the method includes:

Obtain maximum speed, minimum speed and current throttle value;

Obtaining at least one maximum throttle value and at least one minimum throttle value;

Determining an average of the at least one maximum throttle value and an average of the at least one minimum throttle value by an average calculation formula;

The given rotational speed is calculated based on an average of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and the average of the minimum throttle values.

In some embodiments, the obtaining the at least one maximum throttle value and the at least one minimum throttle value comprises:

The maximum throttle value is obtained every same first preset time in a first time interval of the given maximum throttle; and the minimum throttle value is acquired every second identical preset time in the second time interval of the given minimum throttle.

In some embodiments, the maximum throttle value is acquired every same first preset time in a first time interval of a given maximum throttle; every second and second within a second time interval of a given minimum throttle Get the minimum throttle value at preset time, including:

In a first time interval T ₁ for a given maximum throttle, a maximum throttle value is acquired every same first first preset time t ₁ and n maximum throttle values are obtained; within a second time interval T ₂ of a given minimum throttle Obtaining a minimum throttle value every second identical preset time t ₂ and acquiring n minimum throttle values;

The n is a natural number, n≥1, and T ₁ ≥n*t ₁ , T ₂ ≥n*t ₂ .

In some embodiments, the average value is calculated as:

Where x _{max_1} , x _{max_2} , . . . , x _{max — n} represent the maximum throttle value acquired for the first time, the maximum throttle value acquired for the second time, ..., the maximum throttle value obtained for the nth time; x _{min_1} , x _{min_2} , . . . , x _{min — n} represent the minimum throttle value acquired for the first time, the minimum throttle value acquired for the second time, ..., the minimum throttle value acquired for the nth time; n represents the acquisition of the at least one maximum a throttle value or a quantity of the at least one minimum throttle value;

Means an average of the maximum throttle values;

Indicates the average of the minimum throttle values.

In some embodiments, the calculating the given rotational speed according to the average of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and the average of the minimum throttle values comprises:

The given rotational speed is determined by a given rotational speed calculation formula; wherein the given rotational speed is calculated as:

among them,

Representing the maximum speed;

Representing the minimum speed; x represents the current throttle value;

Indicates the given rotational speed.

In order to solve the above technical problem, the embodiment of the present application further provides a given rotational speed computing device, which is applied to an electrical tone, and the device includes:

a first obtaining unit, configured to acquire a maximum speed, a minimum speed, and a current throttle value;

a second acquiring unit, configured to acquire at least one maximum throttle value and at least one minimum throttle value;

a determining unit, configured to determine an average of the at least one maximum throttle value and an average of the at least one minimum throttle value by an average calculation formula;

And a calculating unit, configured to calculate the given rotational speed according to an average value of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and an average value of the minimum throttle value.

In some embodiments, the second obtaining unit comprises:

a maximum throttle value obtaining module, configured to acquire a maximum throttle value every same first preset time in a first time interval of a given maximum throttle;

The minimum throttle value acquisition module is configured to acquire a minimum throttle value every second same preset time within a second time interval of the given minimum throttle.

In some embodiments, the maximum throttle value acquisition module is specifically configured to: obtain a maximum throttle value every same first first preset time t ₁ within a first time interval T ₁ of a given maximum throttle, and acquire n a maximum throttle value acquisition module is configured to: obtain a minimum throttle value every second identical preset time t ₂ within a second time interval T ₂ of a given minimum throttle, and acquire n minimum throttles value;

The n is a natural number, n≥1, and T ₁ ≥n*t ₁ , T ₂ ≥n*t ₂ .

In some embodiments, the average value calculation formula of the determining unit is:

Where x _{max_1} , x _{max_2} , . . . , x _{max — n} represent the maximum throttle value acquired for the first time, the maximum throttle value acquired for the second time, ..., the maximum throttle value obtained for the nth time; x _{min_1} , x _{min_2} , . . . , x _{min — n} represent the minimum throttle value acquired for the first time, the minimum throttle value acquired for the second time, ..., the minimum throttle value acquired for the nth time; n represents the acquisition of the at least one maximum a throttle value or a quantity of the at least one minimum throttle value;

Means an average of the maximum throttle values;

Indicates the average of the minimum throttle values.

In some embodiments, the computing unit is specifically configured to:

The given rotational speed is determined by a given rotational speed calculation formula; wherein the given rotational speed is calculated as:

among them,

Representing the maximum speed;

Representing the minimum speed; x represents the current throttle value;

Indicates the given rotational speed.

To solve the above technical problem, the embodiment of the present application further provides an ESC, including:

At least one processor; and,

a memory communicatively coupled to the at least one processor; wherein

The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform a given rotational speed calculation method as described above.

To solve the above technical problem, the embodiment of the present application further provides a power system, including:

Motor;

In the ESC as described above, the ESC is electrically coupled to the motor for controlling the motor.

To solve the above technical problem, the embodiment of the present application further provides an unmanned aerial vehicle, including:

Body; and

A power system as described above is mounted on the fuselage for providing flight power to the unmanned aerial vehicle.

To solve the above technical problem, the embodiment of the present application further provides an unmanned aerial vehicle, including:

Central housing

An arm that is coupled to the center housing;

a motor, the motor being coupled to the arm;

a propeller coupled to the electric machine, the propeller generating a force that causes the unmanned aerial vehicle to move under the drive of the electric machine;

Electrically tuned to electrically connect to the motor, the electrical tuning being used to:

Obtain maximum speed, minimum speed and current throttle value;

Obtaining at least one maximum throttle value and at least one minimum throttle value;

Determining an average of the at least one maximum throttle value and an average of the at least one minimum throttle value by an average calculation formula;

The given rotational speed is calculated based on an average of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and the average of the minimum throttle values.

In order to solve the above technical problem, the embodiment of the present application further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when When the program command is electronically executed as described above, the ESC is caused to perform a given rotational speed calculation method as described above.

In order to solve the above technical problem, the embodiment of the present application further provides a non-transitory computer readable storage medium, where the computer readable storage medium stores computer executable instructions for enabling the above The ESC performs a given speed calculation method as described above.

The beneficial effects of the embodiments of the present application are as follows: Different from the prior art, the embodiment of the present application provides a method and device for calculating a given rotational speed, an ESC, and an unmanned aerial vehicle. The method includes: obtaining a maximum speed, a minimum speed, and a current throttle value; acquiring at least one maximum throttle value and at least one minimum throttle value; determining an average value of the at least one maximum throttle value by using an average value calculation formula Determining an average value of the at least one minimum throttle value; calculating the given rotational speed based on an average of the maximum rotational speed, the minimum rotational speed, the current throttle value, the average of the maximum throttle value, and the average of the minimum throttle values. Thereby, the dependence on the fixed maximum throttle value and the fixed minimum throttle value is effectively reduced in the process of calculating a given rotational speed, and the control precision of the electrical adjustment is improved.

.

DRAWINGS

The one or more embodiments are exemplified by the accompanying drawings in the accompanying drawings, and FIG. The figures in the drawings do not constitute a scale limitation unless otherwise stated.

1 is a schematic flow chart of a method for calculating a given rotational speed according to an embodiment of the present application;

2 is a schematic flow chart of a method for calculating a given rotational speed according to an embodiment of the present application;

3 is a schematic diagram of a given rotational speed calculation device according to an embodiment of the present application;

4 is a schematic diagram of a given rotational speed calculation device according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of an ESC hardware provided by an embodiment of the present application; FIG.

6 is a schematic diagram of an aircraft provided by an embodiment of the present application;

7 is a schematic diagram of a power system provided by an embodiment of the present application;

8 is a schematic diagram of an unmanned aerial vehicle provided by an embodiment of the present application;

FIG. 9 is a schematic diagram of another UAV provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present application. It is a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

Further, the technical features involved in the various embodiments of the present application described below may be combined with each other as long as they do not constitute a conflict with each other.

Embodiments of the present application can be applied to various motor-driven movable objects including, but not limited to, unmanned aerial vehicles (UAVs), ships, and robots. An example of an unmanned aerial vehicle is now described. The structure of the UAV includes a center housing, a boom and a power system. The arm is integrally or fixedly connected to the center housing, and the power system is mounted on the arm. Typical power systems include ESCs, motors and propellers. The ESC is located in a cavity formed by the arm or the center housing. The ESC is electrically connected to the motor. The motor is mounted on the arm and the rotating shaft of the motor is connected to the propeller. The propeller generates a force that causes the UAV to move under the drive of the motor, for example, a lift or thrust that causes the UAV to move.

At present, the unmanned aerial vehicle completes each specified speed, motion (or attitude) usually by electrically controlling the motor of the unmanned aerial vehicle. The electronically controlled full name electronic governor adjusts the speed of the motor of the unmanned aerial vehicle according to the control signal. The principle of the ESC control motor is roughly as follows: The motor is an open-loop control element motor that converts an electrical pulse signal into an angular displacement or a line displacement. In the case of non-overload, the speed and stop position of the motor depend only on the frequency of the pulse signal and the number of pulses, and are not affected by the load change. When the driver receives a pulse signal, it drives the motor in the set direction. Rotate at a fixed angle and its rotation is at a fixed angle. Therefore, the ESC can control the angular displacement by controlling the number of pulses to achieve the purpose of accurate positioning. At the same time, the speed and acceleration of the motor rotation can be controlled by controlling the pulse frequency, thereby achieving the purpose of speed regulation.

In the ESC control system, it generally includes: throttle generator, battery, ESC and motor. The input line of the ESC is connected to the battery, and the output line of the ESC (two brushes and three brushes) is connected to the motor of the UAV, and the signal line of the ESC is connected to the throttle generator. During the flight of the unmanned aerial vehicle, the unmanned aerial vehicle is powered on (without the paddle), the throttle generator sends the throttle signal to the ESC, and the ESC controls the speed of the motor of the UAV. Therefore, in order to more accurately control the state of the UAV (front, rear, left, right, up, down, etc.), it is necessary for the ESC to accurately analyze the throttle signal to obtain the given speed of the ESC. signal.

The embodiment of the present application provides a method and device for calculating a given rotational speed, an ESC and an unmanned aerial vehicle to improve the control precision of the ESC.

The idea of the present application is: first, obtaining the maximum speed, the minimum speed, and the current throttle value; secondly, acquiring at least one maximum throttle value and at least one minimum throttle value; again, determining the at least one maximum by using an average value calculation formula An average of the throttle value and an average of the at least one minimum throttle value; and finally, an average of the maximum speed, the minimum speed, the current throttle value, the maximum throttle value, and the minimum throttle value The average value is calculated for a given speed.

Determining the given rotational speed by a relationship between the maximum rotational speed, the minimum rotational speed, the current throttle value, an average of the maximum throttle value, an average of the minimum throttle value, and the given rotational speed, To solve the problem of relying on the fixed maximum throttle value and the fixed minimum throttle value when calculating the given speed of the ESC in the prior art, thereby effectively reducing the fixed maximum throttle value and the fixed minimum throttle value to calculate the given speed. The influence of accuracy improves the control accuracy of the ESC.

The embodiments of the present application are further described below in conjunction with the accompanying drawings.

Example 1:

The embodiment of the present application is an embodiment of a method for calculating a given rotational speed provided by the present application. FIG. 1 is a schematic flowchart of a method for calculating a given rotational speed according to an embodiment of the present application. A given rotational speed calculation method of the embodiment of the present application is applied to an electrical tone, which can be performed by an electrical adjustment device. The ESC can be applied to an aircraft, for example, to an unmanned aerial vehicle.

Referring to Figure 1, the method includes:

101: Get the maximum speed, minimum speed and current throttle value.

In the embodiment of the present application, the ESC can obtain a fixed maximum speed and a minimum speed. And, during the flight of the aircraft, the ESC can obtain the current throttle value in real time.

102: Acquire at least one maximum throttle value and at least one minimum throttle value.

In an embodiment of the present application, the ESC may acquire at least one maximum throttle value and at least one minimum throttle value. The at least one maximum throttle value is distinguished from the at least one minimum throttle value by a fixed maximum throttle value and a fixed minimum throttle value that are typically calculated at a given rotational speed. The at least one maximum throttle value is a maximum throttle value acquired at the same time in a time interval in which the throttle generator is given a maximum throttle; the at least one minimum throttle value is within a time interval of a given minimum throttle, each time The minimum throttle value obtained at the same time. The number of the at least one maximum throttle value and the at least one minimum throttle value may be 1, 2, or more, and the number of the at least one maximum throttle value and the at least one minimum throttle value may be According to the actual needs, the number is not limited. Typically, the fixed maximum throttle value and the fixed minimum throttle value for a given rotational speed are both a specific, constant single value.

103: Determine, by an average value calculation formula, an average of the at least one maximum throttle value and an average of the at least one minimum throttle value.

In the embodiment of the present application, after obtaining a plurality of maximum throttle values and a plurality of minimum throttle values, the average value of the at least one maximum throttle value may be determined by the method of averaging, that is, the average value calculation formula, and the at least The average of a minimum throttle value.

104: Calculate a given rotation speed according to an average value of the maximum rotation speed, the minimum rotation speed, the current throttle value, the maximum throttle value, and an average value of the minimum throttle value.

In the embodiment of the present application, the correspondence between the maximum speed, the minimum speed, the current throttle value, the average of the maximum throttle value, the average value of the minimum throttle value, and a given speed is The predetermined rotational speed may be calculated in the case where the maximum rotational speed, the minimum rotational speed, the current throttle value, the average of the maximum throttle values, and the average of the minimum throttle values are determined.

The given rotational speed calculation method provided by the embodiment of the present application is applied to an ESC, and the method includes: acquiring a maximum rotational speed, a minimum rotational speed, and a current throttle value; acquiring at least one maximum throttle value and at least one minimum throttle value; Determining an average of the at least one maximum throttle value and an average of the at least one minimum throttle value; determining an average of the maximum speed, the minimum speed, the current throttle value, and the maximum throttle value The average of the minimum throttle values is calculated for a given speed. Determining the given by a relationship between the maximum speed, the minimum speed, the current throttle value, an average of the maximum throttle value, an average of the minimum throttle value, and the given speed The speed is reduced to effectively reduce the fixed maximum throttle value and the fixed minimum throttle value to calculate the accuracy of the given speed and improve the control accuracy of the ESC.

Example 2:

The embodiment of the present application is an embodiment of a method for calculating a given rotational speed provided by the present application. FIG. 2 is a schematic flowchart of a method for calculating a given rotational speed according to an embodiment of the present application. A given rotational speed calculation method of the embodiment of the present application is applied to an electrical tone, which can be performed by an electrical adjustment device. The ESC can be applied to an aircraft, for example, to an unmanned aerial vehicle.

Referring to Figure 2, the method includes:

201: Obtain the maximum speed, the minimum speed, and the current throttle value.

In the embodiment of the present application, the ESC can obtain a fixed maximum speed and a minimum speed. And, during the flight of the aircraft, the ESC can obtain the current throttle value in real time.

202: Acquire at least one maximum throttle value and at least one minimum throttle value.

In an embodiment of the present application, the ESC may acquire at least one maximum throttle value and at least one minimum throttle value. The obtaining the at least one maximum throttle value and the at least one minimum throttle value, comprising: obtaining a maximum throttle value every same first preset time in a first time interval of a given maximum throttle; and a second at a given minimum throttle During the time interval, the minimum throttle value is obtained every second identical preset time. Obtaining a maximum throttle value every same first preset time in a first time interval of a given maximum throttle; obtaining a minimum throttle every second same preset time in a second time interval of a given minimum throttle The value includes: obtaining, within the first time interval T ₁ of the maximum throttle, the maximum throttle value every same first preset time t ₁ and acquiring n maximum throttle values; at the second time of the given minimum throttle In the interval T ₂ , the minimum throttle value is acquired every second identical preset time t ₂ and n minimum throttle values are acquired; the n is a natural number, n≥1, and T ₁ ≥n*t ₁ , T ₂ ≥n*t ₂ . For example, in the first time interval (eg, 100s) of the given maximum throttle sent by the throttle generator to the ESC, the maximum throttle value is obtained every same first preset time (eg, 10s), and n maximum throttles are obtained. The value is the maximum throttle value of 10; in the second time interval (such as 100s) of the given minimum throttle sent by the throttle generator to the ESC, the minimum throttle is acquired every second identical preset time (such as 10s). Value, get n minimum throttle values, which is 10 minimum throttle values. Since it is necessary to obtain n maximum throttle values and n minimum throttle values, t ₁ is the interval time for obtaining the maximum throttle value, and t ₂ is the interval time for obtaining the minimum throttle value. Therefore, it is necessary to satisfy T ₁ ≥n*t ₁ , T ₂ ≥n*t ₂ . For example, if it is necessary to obtain the maximum throttle value 9 times and obtain the maximum throttle value every 10 s, the first time interval T ₁ needs to be greater than or equal to 90 s, such as 91 s.

It should be noted that, in the embodiment of the present application, the first time interval T ₁ and the second time interval T ₂ may be equal or not equal; the first preset time t ₁ and the second preset The times t ₂ may or may not be equal. For example, the first time interval T ₁ is 100 s, the second time interval T ₂ is _{200 s} ; the first preset time t ₁ is 10 s, and the second preset time t ₂ is 20 s.

It should also be noted that, in the embodiment of the present application, the at least one maximum throttle value and the at least one minimum throttle value are different from a fixed maximum throttle value and a fixed minimum throttle value that are typically calculated at a given rotational speed. The fixed maximum throttle value and the fixed minimum throttle value are both specific, constant single values.

203: Determine, by an average value calculation formula, an average value of the at least one maximum throttle value and an average of the at least one minimum throttle value.

In the embodiment of the present application, after obtaining a plurality of maximum throttle values and a plurality of minimum throttle values, the average value of the at least one maximum throttle value may be determined by the method of averaging, that is, the average value calculation formula, and the at least The average of a minimum throttle value. The average value is calculated as:

Where x _{max_1} , x _{max_2} , . . . , x _{max — n} represent the maximum throttle value acquired for the first time, the maximum throttle value acquired for the second time, ..., the maximum throttle value obtained for the nth time; x _{min_1} , x _{min_2} , . . . , x _{min — n} represent the minimum throttle value acquired for the first time, the minimum throttle value acquired for the second time, ..., the minimum throttle value acquired for the nth time; n represents the acquisition of the at least one maximum a throttle value or a quantity of the at least one minimum throttle value;

Means an average of the maximum throttle values;

Indicates the average of the minimum throttle values.

204: Calculate a given rotational speed according to an average value of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and an average value of the minimum throttle value.

In the embodiment of the present application, the correspondence between the maximum speed, the minimum speed, the current throttle value, the average of the maximum throttle value, the average value of the minimum throttle value, and a given speed is The predetermined rotational speed may be calculated in the case where the maximum rotational speed, the minimum rotational speed, the current throttle value, the average of the maximum throttle values, and the average of the minimum throttle values are determined. Calculating the given rotational speed according to the average value of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and the average value of the minimum throttle value, including: calculating a formula by using a given rotational speed, Determining a given rotational speed; wherein the given rotational speed is calculated as:

among them,

Representing the maximum speed;

Representing the minimum speed; x represents the current throttle value;

Indicates the given rotational speed.

It is to be understood that, in some embodiments, there is no necessarily a certain order between the steps 201-204 in the embodiment of the present application, and those skilled in the art can understand according to the description of the embodiments of the present application. In different embodiments, the steps 201-204 may have different execution sequences, such as performing the step 202 and then performing the step 201, or the step 201 and the step 202 are performed simultaneously.

It should be noted that the technical details that are not described in detail in the steps 201-204 in the embodiments of the present application may be referred to the specific description of the foregoing embodiments.

The given rotational speed calculation method provided by the embodiment of the present application is applied to an ESC, and the method includes: acquiring a maximum rotational speed, a minimum rotational speed, and a current throttle value; acquiring at least one maximum throttle value and at least one minimum throttle value; Determining an average of the at least one maximum throttle value and an average of the at least one minimum throttle value; determining an average of the maximum speed, the minimum speed, the current throttle value, and the maximum throttle value The average of the minimum throttle values is calculated for a given speed. Calculating a corresponding relationship between the maximum speed, the minimum speed, the current throttle value, an average of the maximum throttle value, an average of the minimum throttle value, and the given speed, ie, a given speed The formula determines the given rotational speed, thereby effectively reducing the fixed maximum throttle value, the fixed minimum throttle value, and the effect of calculating the accuracy of the given rotational speed, and improving the control precision of the electrical control.

Example 3:

The embodiment of the present application is an embodiment of a given rotational speed computing device provided by the present application. FIG. 3 is a schematic diagram of a device for calculating a given rotational speed according to an embodiment of the present application. Wherein the device is applied to an electrical tone.

Referring to Figure 3, the apparatus 30 includes:

The first obtaining unit 301 is configured to acquire a maximum speed, a minimum speed, and a current throttle value.

In the embodiment of the present application, the first acquiring unit 301 can acquire a fixed maximum speed and a minimum speed. And, the first acquisition unit 301 can acquire the current throttle value in real time while the aircraft is in flight.

The second obtaining unit 302 is configured to acquire at least one maximum throttle value and at least one minimum throttle value.

In the embodiment of the present application, the second acquiring unit 302 may acquire at least one maximum throttle value and at least one minimum throttle value. The at least one maximum throttle value is distinguished from the at least one minimum throttle value by a fixed maximum throttle value and a fixed minimum throttle value that are typically calculated at a given rotational speed. The at least one maximum throttle value is a maximum throttle value acquired at the same time in a time interval in which the throttle generator is given a maximum throttle; the at least one minimum throttle value is within a time interval of a given minimum throttle, each time The minimum throttle value obtained at the same time. The number of the at least one maximum throttle value and the at least one minimum throttle value may be 1, 2, or more, and the number of the at least one maximum throttle value and the at least one minimum throttle value may be According to the actual needs, the number is not limited. Typically, the fixed maximum throttle value and the fixed minimum throttle value for a given rotational speed are both a specific, constant single value.

The determining unit 303 is configured to determine an average value of the at least one maximum throttle value and an average of the at least one minimum throttle value by using an average value calculation formula.

In the embodiment of the present application, after the second obtaining unit 302 obtains a plurality of maximum throttle values and a plurality of minimum throttle values, the determining unit 303 may determine the method by using an average value calculation method, that is, an average value calculation formula. An average of the at least one maximum throttle value and an average of the at least one minimum throttle value.

The calculating unit 304 is configured to calculate a given rotational speed according to an average value of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and an average value of the minimum throttle value.

In the embodiment of the present application, the calculating unit 304 passes the maximum rotation speed, the minimum rotation speed, the current throttle value, the average value of the maximum throttle value, the average value of the minimum throttle value, and a given rotation speed. Corresponding relationship, in the case that the maximum speed, the minimum speed, the current throttle value, the average of the maximum throttle value, and the average value of the minimum throttle value are determined, the Given the speed.

In the embodiment of the present application, the first obtaining unit 301 acquires a maximum speed, a minimum speed, and a current throttle value; the second acquiring unit 302 acquires at least one maximum throttle value and at least one minimum throttle value; the determining unit 303 Determining, by an average value calculation formula, an average of the at least one maximum throttle value and an average of the at least one minimum throttle value; the calculating unit 304 according to the maximum rotational speed, the minimum rotational speed, the current throttle value And calculating, by the average value of the maximum throttle value and the average value of the minimum throttle value, a given rotational speed.

It should be noted that, in the embodiment of the present application, the given rotational speed calculation device 30 can perform the given rotational speed calculation method provided by Embodiment 1 of the present application, and has the corresponding functional modules and beneficial effects of the execution method. For a technical detail not described in detail in the embodiment of the given rotational speed computing device 30, reference may be made to the given rotational speed calculation method provided by Embodiment 1 of the present application.

Example 4:

The embodiment of the present application is an embodiment of a given rotational speed computing device provided by the present application. FIG. 4 is a schematic diagram of a device for calculating a given rotational speed according to an embodiment of the present application. Wherein the device is applied to an electrical tone.

Referring to Figure 4, the apparatus 40 includes:

The first obtaining unit 401 is configured to acquire a maximum speed, a minimum speed, and a current throttle value.

In the embodiment of the present application, the first acquiring unit 401 can acquire a fixed maximum speed and a minimum speed. And, the first acquisition unit 401 can acquire the current throttle value in real time while the aircraft is in flight.

The second obtaining unit 402 is configured to acquire at least one maximum throttle value and at least one minimum throttle value.

In the embodiment of the present application, the second obtaining unit 402 may acquire at least one maximum throttle value and at least one minimum throttle value. The second acquisition unit includes: a maximum throttle value acquisition module 4021, configured to acquire a maximum throttle value every same first preset time in a first time interval of a given maximum throttle; a minimum throttle value acquisition module 4022, The minimum throttle value is acquired every second identical preset time within a second time interval given a minimum throttle.

The maximum throttle value obtaining module 4021 is specifically configured to: obtain a maximum throttle value every same first preset time t _{1 in} a first time interval T ₁ of a given maximum throttle, and acquire n maximum throttle values; The minimum throttle value obtaining module 4022 is specifically configured to: obtain a minimum throttle value every second identical preset time t ₂ within a second time interval T ₂ of a given minimum throttle, and acquire n minimum throttle values; n is a natural number, n≥1, and T ₁ ≥n*t ₁ , T ₂ ≥n*t ₂ .

For example, in a first time interval (eg, 100 s) of a given maximum throttle sent by the throttle generator to the ESC, the maximum throttle value acquisition module 4021 acquires the maximum throttle every same first predetermined time (eg, 10 s). The value obtains n maximum throttle values, that is, 10 maximum throttle values; the minimum throttle value acquisition module 4022 is within a second time interval (eg, 100 s) of a given minimum throttle sent by the throttle generator to the ESC. The minimum throttle value is obtained every second identical preset time (such as 10s), and n minimum throttle values are obtained, that is, 10 minimum throttle values. Since it is necessary to obtain n maximum throttle values and n minimum throttle values, t ₁ is the interval time for obtaining the maximum throttle value, and t ₂ is the interval time for obtaining the minimum throttle value. Therefore, it is necessary to satisfy T ₁ ≥n*t ₁ , T ₂ ≥n*t ₂ . For example, the maximum throttle value acquisition module 4021 needs to acquire the maximum throttle value 9 times, and obtain the maximum throttle value every 10 s. The first time interval T ₁ is required to be greater than or equal to 90 s, such as 91 s.

The determining unit 403 is configured to determine an average value of the at least one maximum throttle value and an average of the at least one minimum throttle value by using an average value calculation formula.

In the embodiment of the present application, after the second obtaining unit 402 obtains a plurality of maximum throttle values and a plurality of minimum throttle values, the determining unit 403 may determine the method by using an average value calculation method, that is, an average value calculation formula. An average of the at least one maximum throttle value and an average of the at least one minimum throttle value. The average value calculation formula of the determining unit 403 is:

Where x _{max_1} , x _{max_2} , . . . , x _{max — n} represent the maximum throttle value acquired for the first time, the maximum throttle value acquired for the second time, ..., the maximum throttle value obtained for the nth time; x _{min_1} , x _{min_2} , . . . , x _{min — n} represent the minimum throttle value acquired for the first time, the minimum throttle value acquired for the second time, ..., the minimum throttle value acquired for the nth time; n represents the acquisition of the at least one maximum a throttle value or a quantity of the at least one minimum throttle value;

Means an average of the maximum throttle values;

Indicates the average of the minimum throttle values.

The calculating unit 404 is configured to calculate a given rotational speed according to an average value of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and an average value of the minimum throttle value.

In the embodiment of the present application, the calculating unit 404 passes the maximum rotation speed, the minimum rotation speed, the current throttle value, the average value of the maximum throttle value, the average value of the minimum throttle value, and a given rotation speed. Corresponding relationship, in the case that the maximum speed, the minimum speed, the current throttle value, the average of the maximum throttle value, and the average value of the minimum throttle value are determined, the Given the speed. The calculating unit 404 is specifically configured to:

The given rotational speed is determined by a given rotational speed calculation formula; wherein the given rotational speed is calculated as:

among them,

Representing the maximum speed;

Representing the minimum speed; x represents the current throttle value;

Indicates the given rotational speed.

In the embodiment of the present application, the first obtaining unit 401 acquires a maximum speed, a minimum speed, and a current throttle value; the second acquiring unit 402 acquires at least one maximum throttle value and at least one minimum throttle value; the determining unit 403 Determining an average of the at least one maximum throttle value and an average of the at least one minimum throttle value by an average calculation formula; the calculating unit 404 is configured to determine the maximum rotational speed, the minimum rotational speed, and the current throttle value And calculating, by the average value of the maximum throttle value and the average value of the minimum throttle value, a given rotational speed.

It should be noted that, in the embodiment of the present application, the given rotational speed calculation device 40 can perform the given rotational speed calculation method provided in Embodiment 2 of the present application, and has the corresponding functional modules and beneficial effects of the execution method. For a technical detail that is not described in detail in the embodiment of the given rotational speed computing device 40, reference may be made to the given rotational speed calculation method provided by Embodiment 2 of the present application.

Example 5:

FIG. 5 is a schematic structural diagram of an ESC hardware provided by an embodiment of the present application. As shown in FIG. 5, the ESC 50 includes:

One or more processors 501 and memory 502, one processor 501 is taken as an example in FIG.

The processor 501 and the memory 502 can be connected by a bus or other means, as exemplified by the bus connection in Fig. 5.

The memory 502 is a non-volatile computer readable storage medium and can be used for storing a non-volatile software program, a non-volatile computer executable program, and a module, as in a given rotational speed calculation method in the embodiment of the present application. Program instructions/units (for example, the first acquisition unit 401, the second acquisition unit 402, the determination unit 403, and the calculation unit 404 shown in FIG. 4). The processor 501 performs various functional applications of the ESC and data processing by executing non-volatile software programs, instructions, and units stored in the memory 502, i.e., implements a given rotational speed calculation method of the method embodiments.

The memory 502 may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to the use of the ESC, and the like. Moreover, memory 502 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 502 can optionally include memory remotely located relative to processor 501, which can be connected to the ESC via a network. Embodiments of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The one or more units are stored in the memory 502, and when executed by the one or more processors 501, perform a given speed calculation method in any of the method embodiments 1 and/or 2. For example, performing the method steps 201 through 204 of FIG. 2 described above, the functions of the units 401-404 in FIG. 4 are implemented.

The ESC can perform the given rotational speed calculation method provided by Embodiment 1 and/or Embodiment 2 of the present application, and has the corresponding functional modules and beneficial effects of the execution method. For a technical detail that is not described in detail in the ESC embodiment, reference is made to the given rotational speed calculation method provided by Embodiment 1 and/or Embodiment 2 of the present application.

The embodiment of the present application provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instruction is When the ESC is executed, the ESC is caused to perform a given rotational speed calculation method as described above. For example, performing the method steps 201 through 204 of FIG. 2 described above implements the functions of the units 401-404 in FIG.

Embodiments of the present application provide a non-transitory computer readable storage medium storing computer-executable instructions that are executed by one or more processors, for example, to perform the above The method steps 201 through 204 of FIG. 2 are described to implement the functions of units 401-404 in FIG.

Example 6

Referring to FIG. 6 , an aircraft provided by an embodiment of the present application includes: a motor and an ESC as described above, wherein the ESC is used to control the rotational speed of the motor. The aircraft 60 may also include a throttle generator that sends a throttle signal to the ESC that electrically controls the speed of the motor of the aircraft 60. The aircraft 60 can be a variety of flying instruments, such as unmanned aerial vehicles, spacecraft, and the like.

Referring to FIG. 7, an embodiment of the present application further provides a power system. The powertrain 70 includes a motor and an ESC as described above, wherein an ESC is electrically coupled to the motor for controlling the motor.

Please refer to FIG. 8 , an embodiment of the present application further provides an unmanned aerial vehicle. The UAV 80 includes a fuselage and the power system 70 described above that is mounted to the fuselage for providing flight power to the UAV 80.

Referring to FIG. 9, another embodiment of the present application provides an unmanned aerial vehicle. The UAV 90 includes:

Central housing

An arm that is coupled to the center housing;

a motor, the motor being coupled to the arm;

a propeller coupled to the motor, the propeller generating a force that causes the UAV 90 to move under the drive of the motor;

The ESC is electrically coupled to the motor for performing all or part of the steps of the given rotational speed calculation method illustrated in Figures 1-2. The ESC includes:

At least one processor; and,

a memory communicatively coupled to the at least one processor; wherein

The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform as illustrated in any of the above-described exemplary embodiments The calculation method for a given speed.

It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical. Units can be located in one place or distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software plus a general hardware platform, and of course, by hardware. One of ordinary skill in the art can understand that all or part of the process of implementing the embodiment method can be completed by computer program related hardware, the program can be stored in a computer readable storage medium, and the program is executed. The flow of an embodiment of the methods as described may be included. The storage medium may be a read-only memory (ROM) or a random access memory (RAM).

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; in the idea of the present application, the technical features in the above embodiments or different embodiments may also be combined. The steps may be carried out in any order, and there are many other variations of the various aspects of the present application as described above, which are not provided in the details for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, The skilled person should understand that the technical solutions described in the foregoing embodiments may be modified, or some of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the embodiments of the present application. The scope of the technical solution.

Claims (18)

1. A method for calculating a given rotational speed, applied to an electrical tone, wherein the method comprises:

   Obtain maximum speed, minimum speed and current throttle value;

   Obtaining at least one maximum throttle value and at least one minimum throttle value;

   Determining an average of the at least one maximum throttle value and an average of the at least one minimum throttle value by an average calculation formula;

   The given rotational speed is calculated based on an average of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and the average of the minimum throttle values.
2. The method of claim 1 wherein said obtaining at least one maximum throttle value and at least one minimum throttle value comprises:

   The maximum throttle value is obtained every same first preset time in a first time interval of the given maximum throttle; and the minimum throttle value is acquired every second identical preset time in the second time interval of the given minimum throttle.
3. The method according to claim 2, wherein said obtaining a maximum throttle value every same first predetermined time in a first time interval of a given maximum throttle; in a second time interval of a given minimum throttle Within the same second preset time, the minimum throttle value is obtained, including:

   In a first time interval T ₁ for a given maximum throttle, a maximum throttle value is acquired every same first first preset time t ₁ and n maximum throttle values are obtained; within a second time interval T ₂ of a given minimum throttle Obtaining a minimum throttle value every second identical preset time t ₂ and acquiring n minimum throttle values;

   The n is a natural number, n≥1, and T ₁ ≥n*t ₁ , T ₂ ≥n*t ₂ .
4. The method of claim 3 wherein said average calculation formula is:

   

   Where x _{max_1} , x _{max_2} , . . . , x _{max — n} represent the maximum throttle value acquired for the first time, the maximum throttle value acquired for the second time, ..., the maximum throttle value obtained for the nth time; x _{min_1} , x _{min_2} , . . . , x _{min — n} represent the minimum throttle value acquired for the first time, the minimum throttle value acquired for the second time, ..., the minimum throttle value acquired for the nth time; n represents the acquisition of the at least one maximum a throttle value or a quantity of the at least one minimum throttle value; _x'max represents an average of the maximum throttle values; _x'min represents an average of the minimum throttle values.
5. The method according to any one of claims 1 to 4, wherein said average value of said maximum rotational speed, said minimum rotational speed, said current throttle value, said maximum throttle value and said minimum throttle The average of the values is calculated for a given speed, including:

   The given rotational speed is determined by a given rotational speed calculation formula; wherein the given rotational speed is calculated as:

   

   among them,

   

   Representing the maximum speed;

   

   Representing the minimum speed; x represents the current throttle value;

   

   Indicates the given rotational speed.
6. A given rotational speed computing device for use in an electrical tone, characterized in that the device comprises:

   a first obtaining unit, configured to acquire a maximum speed, a minimum speed, and a current throttle value;

   a second acquiring unit, configured to acquire at least one maximum throttle value and at least one minimum throttle value;

   a determining unit, configured to determine an average of the at least one maximum throttle value and an average of the at least one minimum throttle value by an average calculation formula;

   And a calculating unit, configured to calculate the given rotational speed according to an average value of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and an average value of the minimum throttle value.
7. The apparatus according to claim 6, wherein the second obtaining unit comprises:

   a maximum throttle value obtaining module, configured to acquire a maximum throttle value every same first preset time in a first time interval of a given maximum throttle;

   The minimum throttle value acquisition module is configured to acquire a minimum throttle value every second same preset time within a second time interval of the given minimum throttle.
8. The device according to claim 7, wherein the maximum throttle value acquisition module is specifically configured to: obtain a maximum every first first preset time t ₁ within a first time interval T ₁ of a given maximum throttle a throttle value, and obtaining n maximum throttle values; the minimum throttle value acquisition module is specifically configured to: obtain a minimum throttle value every second identical preset time t ₂ within a second time interval T ₂ of a given minimum throttle And get n minimum throttle values;

   The n is a natural number, n≥1, and T ₁ ≥n*t ₁ , T ₂ ≥n*t ₂ .
9. The apparatus according to claim 8, wherein said average value calculation formula of said determining unit is:

   

   Where x _{max_1} , x _{max_2} , . . . , x _{max — n} represent the maximum throttle value acquired for the first time, the maximum throttle value acquired for the second time, ..., the maximum throttle value obtained for the nth time; x _{min_1} , x _{min_2} , . . . , x _{min — n} represent the minimum throttle value acquired for the first time, the minimum throttle value acquired for the second time, ..., the minimum throttle value acquired for the nth time; n represents the acquisition of the at least one maximum a throttle value or a quantity of the at least one minimum throttle value; _x'max represents an average of the maximum throttle values; _x'min represents an average of the minimum throttle values.
10. The device according to any one of claims 6-9, wherein the calculating unit is specifically configured to:

    The given rotational speed is determined by a given rotational speed calculation formula; wherein the given rotational speed is calculated as:

    

    among them,

    

    Representing the maximum speed;

    

    Representing the minimum speed; x represents the current throttle value;

    

    Indicates the given rotational speed.
11. An electrical tone characterized by comprising:

    At least one processor; and,

    a memory communicatively coupled to the at least one processor; wherein

    The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform any one of claims 1-5 Methods.
12. A power system characterized by comprising:

    Motor;

    The ESC of claim 11 wherein said ESC is electrically coupled to said motor for controlling said motor.
13. An unmanned aerial vehicle, comprising:

    Body; and

    The power system of claim 12 mounted on said fuselage for providing flight power to said unmanned aerial vehicle.
14. An unmanned aerial vehicle, comprising:

    Central housing

    An arm that is coupled to the center housing;

    a motor, the motor being coupled to the arm;

    a propeller coupled to the electric machine, the propeller generating a force that causes the unmanned aerial vehicle to move under the drive of the electric machine;

    Electrically tuned to electrically connect to the motor, the electrical tuning being used to:

    Obtain maximum speed, minimum speed and current throttle value;

    Obtaining at least one maximum throttle value and at least one minimum throttle value;

    Determining an average of the at least one maximum throttle value and an average of the at least one minimum throttle value by an average calculation formula;

    The given rotational speed is calculated based on an average of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and the average of the minimum throttle values.
15. The UAV according to claim 14, wherein said obtaining at least one maximum throttle value and at least one minimum throttle value comprises:

    The maximum throttle value is obtained every same first preset time in a first time interval of the given maximum throttle; and the minimum throttle value is acquired every second identical preset time in the second time interval of the given minimum throttle.
16. The UAV according to claim 15, wherein said maximum throttle value is obtained every same first preset time in a first time interval of a given maximum throttle; second in a given minimum throttle During the time interval, the minimum throttle value is obtained every second identical preset time, including:

    In a first time interval T ₁ for a given maximum throttle, a maximum throttle value is acquired every same first first preset time t ₁ and n maximum throttle values are obtained; within a second time interval T ₂ of a given minimum throttle Obtaining a minimum throttle value every second identical preset time t ₂ and acquiring n minimum throttle values;

    The n is a natural number, n≥1, and T ₁ ≥n*t ₁ , T ₂ ≥n*t ₂ .
17. The UAV according to claim 16, wherein said average value calculation formula is:

    

    Where x _{max_1} , x _{max_2} , . . . , x _{max — n} represent the maximum throttle value acquired for the first time, the maximum throttle value acquired for the second time, ..., the maximum throttle value obtained for the nth time; x _{min_1} , x _{min_2} , . . . , x _{min — n} represent the minimum throttle value acquired for the first time, the minimum throttle value acquired for the second time, ..., the minimum throttle value acquired for the nth time; n represents the acquisition of the at least one maximum a throttle value or a quantity of the at least one minimum throttle value; _x'max represents an average of the maximum throttle values; _x'min represents an average of the minimum throttle values.
18. The UAV according to any one of claims 14 to 17, wherein said average value according to said maximum rotational speed, said minimum rotational speed, said current throttle value, said maximum throttle value is said The average of the minimum throttle values is calculated for a given speed, including:

    The given rotational speed is determined by a given rotational speed calculation formula; wherein the given rotational speed is calculated as:

    

    among them,

    

    Representing the maximum speed;

    

    Representing the minimum speed; x represents the current throttle value;

    

    Indicates the given rotational speed.

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