CN105736156A - Control method and control system of unmanned helicopter engine constant rotation speed - Google Patents
Control method and control system of unmanned helicopter engine constant rotation speed Download PDFInfo
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- CN105736156A CN105736156A CN201610174069.5A CN201610174069A CN105736156A CN 105736156 A CN105736156 A CN 105736156A CN 201610174069 A CN201610174069 A CN 201610174069A CN 105736156 A CN105736156 A CN 105736156A
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- electromotor
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- depopulated helicopter
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000002347 injection Methods 0.000 claims abstract description 33
- 239000007924 injection Substances 0.000 claims abstract description 33
- 230000001052 transient effect Effects 0.000 claims description 40
- 238000001514 detection method Methods 0.000 claims description 15
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 238000002955 isolation Methods 0.000 claims description 6
- 230000007306 turnover Effects 0.000 claims description 6
- 239000000446 fuel Substances 0.000 abstract description 15
- 230000004044 response Effects 0.000 abstract description 6
- 230000009469 supplementation Effects 0.000 abstract 3
- 230000001276 controlling effect Effects 0.000 description 18
- 230000008569 process Effects 0.000 description 16
- 239000003921 oil Substances 0.000 description 14
- 239000000523 sample Substances 0.000 description 10
- 230000008901 benefit Effects 0.000 description 6
- 230000008450 motivation Effects 0.000 description 4
- 230000001737 promoting effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- 239000010705 motor oil Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
- F02D31/007—Electric control of rotation speed controlling fuel supply
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/101—Engine speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2250/00—Engine control related to specific problems or objectives
- F02D2250/12—Timing of calculation, i.e. specific timing aspects when calculation or updating of engine parameter is performed
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Toys (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
Abstract
The invention provides a control method and control system of unmanned helicopter engine constant rotation speed. The method comprises the steps of detecting the average rotation speed and instantaneous rotation speed of an engine; adjusting the opening of a throttle plate according to the difference value of the average rotation speed of the engine and the target rotation speed of the engine and the current flying state information of an unmanned helicopter engine; determining the fuel injection quantity and fuel injection time according to the adjusted throttle plate opening and the state information of the engine; correcting the fuel injection quantity and fuel injection time or gas supplementation quantity according to the instantaneous rotation speed of the engine; and controlling fuel injection according to the corrected fuel injection quantity and fuel injection time, and controlling gas supplementation according to the gas supplementation quantity. According to the control method and the control system, the stability of the rotation speed of the engine can be improved, additional cost is not required to be added, the calculation amount is low, and the response speed of the system is high.
Description
Technical field
The present invention relates to technical field of aerospace, determine method for controlling number of revolution particularly to a kind of depopulated helicopter electromotor and control system.
Background technology
The rotor of helicopter is usually operated under constant rotary regimes.Current depopulated helicopter electromotor uses electromotor or the carburetor engine of band ECU (ElectronicControlUnit, electronic control unit), determines rotational speed governor by increasing in flight control system, and the constant rotational speed completing electromotor controls.The control method of rotor rotating speed is increase sensor at electromotor place or rotor place by usual electromotor, is obtained the rotating speed of rotor or electromotor by measurement means, thus regulating throttle position, to make rotor rotating speed reach constant.
Method for controlling number of revolution determined by presently relevant depopulated helicopter electromotor mainly has:
(1) make lifting airscrew reach to determine rotary regimes by the mode of single adjustment throttle position, understand because in flight course, the fluctuation of required horsepower causes the fluctuation of rotor rotating speed.Current solution is by used electromotor is set up more accurate phantom, and for the engine oil gate value under helicopter all flight conditions carry out Accurate Calibration to ensure designed rotational speed governor by engine peed stable near setting speed.This scaling method workload is relatively big, and it is sensitive to calibration value to control system, and robustness is poor.
(2) by using the mode of rotor rotating speed to be controlled, owing to rotor rotating speed is compared with engine speed, rotating speed is relatively low, can produce bigger error in control process.
(3) in helicopter flight process, electromotor remains at high-revolving duty (entirely different with automobile fixed speed cruise/motorcycle idle speed constant speed operating mode), and current single mean speed feedback system cannot meet the demand that under high-speed state, the fluctuation of speed is little.
Summary of the invention
It is contemplated that one of technical problem solved at least to a certain extent in above-mentioned correlation technique.
For this, it is an object of the present invention to propose a kind of depopulated helicopter electromotor and determine method for controlling number of revolution, the method can promote the stability of engine speed, it is not necessary to increase extra cost, amount of calculation is little, and system response time is fast.
Further object is that method for controlling number of revolution determined by a kind of depopulated helicopter electromotor of offer.
To achieve these goals, the embodiment of first aspect present invention proposes a kind of depopulated helicopter electromotor and determines method for controlling number of revolution, comprises the following steps: the mean speed of detection electromotor and transient speed；Throttle opening is adjusted by the difference between mean speed and the rotating speed of target of electromotor according to described electromotor and the current state of flight information of depopulated helicopter；Status information according to the throttle opening after adjusting and electromotor determines distributive value and oil injection time；And according to the transient speed of described electromotor, described distributive value and oil injection time or described air compensation are modified, and carry out Injection Control according to revised distributive value and oil injection time, and carry out gas supply control according to described air compensation.
It addition, method for controlling number of revolution determined by depopulated helicopter electromotor according to the above embodiment of the present invention can also have following additional technical characteristic:
In some instances, the mean speed of described detection electromotor and transient speed, specifically include: obtain the number of pulses of the tach signal of described electromotor in the unit interval, and determine the mean speed of described electromotor according to the number of pulses of described tach signal, particularly as follows:
RPMavarage=nsensor/ (N Δ t) × 60,
Wherein, RPMavarageFor the mean speed of described electromotor, Δ t is the described unit interval, nsensorFor the number of pulses of the tach signal of electromotor described within the described unit interval, N is the number of pulses of the tach signal in engine rotation one turn；
The transient speed of described electromotor is calculated by equation below:
RPMinstant=60/T,
Wherein, RPMinstantFor the transient speed of described electromotor, T is that the engine crankshaft that work cycle is corresponding rotates a cycle turnover.
In some instances, described electromotor is BBG, and described tach signal is the pulse signal of described engine trigger output, or, described electromotor is carburetor engine, and described tach signal is ignition coil pulse signal.
In some instances, also include: carry out Phototube Coupling by the symplectic described tach signal of light.
In some instances, the state of flight information that described depopulated helicopter is current includes pitch and the flight speed of the rotor of described depopulated helicopter.
Method for controlling number of revolution determined by depopulated helicopter electromotor according to embodiments of the present invention, have the advantage that 1) participate in controlling by double; two rotating speeds (mean speed and transient speed), each rotating speed participates in the control of independent actuator, promoting the stability of engine speed, in control process simultaneously, operand does not have excessive raising；2) use the mode that electromotor is controlled to control lifting airscrew rotating speed, only need to use the speed probe of electromotor self, it is not necessary to increase other speed probes, simplify system structure；3) motor instant rotating speed participates in control, direct regulation and control fuel injector or making-up air device, accelerates the response speed of system；4) process robustness is controlled higher, it is not necessary to the state of flight of controlled unmanned plane is carried out high-precision calibrating, reduces staking-out work amount.
The embodiment of second aspect present invention provides a kind of depopulated helicopter electromotor and determines revolution speed control system, including: detection module, described detection module is for detecting mean speed and the transient speed of electromotor；Controlling module, described control module is for being adjusted throttle opening according to the state of flight information that the difference between mean speed and the rotating speed of target of electromotor of described electromotor and depopulated helicopter are current；EFI module, described EFI module is for determining distributive value and oil injection time according to the status information of the throttle opening after adjusting and electromotor；And adjusting module, described adjusting module is for being modified described distributive value and oil injection time or described air compensation according to the transient speed of described electromotor, and carry out Injection Control according to revised distributive value and oil injection time, and carry out gas supply control according to described air compensation.
It addition, revolution speed control system determined by depopulated helicopter electromotor according to the above embodiment of the present invention can also have following additional technical characteristic:
In some instances, the mean speed of described detection electromotor and transient speed, specifically include: obtain the number of pulses of described engine rotational speed signal in the unit interval, and determine the mean speed of described electromotor according to the number of pulses of described tach signal, particularly as follows:
RPMavarage=nsensor/ (N Δ t) × 60,
Wherein, RPMavarageFor the mean speed of described electromotor, Δ t is the described unit interval, nsensorFor the number of pulses of the tach signal of electromotor described within the described unit interval, N is the number of pulses of the tach signal in engine rotation one turn；
The transient speed of described electromotor is calculated by equation below:
RPMinstant=60/T,
Wherein, RPMinstantFor the transient speed of described electromotor, T is that the engine crankshaft that work cycle is corresponding rotates a cycle turnover.
In some instances, described electromotor is BBG, and described tach signal is the pulse signal of described engine trigger output, or, described electromotor is carburetor engine, and described tach signal is ignition coil pulse signal.
In some instances, also including: photoelectric isolation module, described photoelectric isolation module is for carrying out Phototube Coupling by the symplectic described tach signal of light.
In some instances, the state of flight information that described depopulated helicopter is current includes pitch and the flight speed of the rotor of described depopulated helicopter.
Revolution speed control system determined by depopulated helicopter electromotor according to embodiments of the present invention, have the advantage that 1) participate in controlling by double; two rotating speeds (mean speed and transient speed), each rotating speed participates in the control of independent actuator, promoting the stability of engine speed, in control process simultaneously, operand does not have excessive raising；2) use the mode that electromotor is controlled to control lifting airscrew rotating speed, only need to use the speed probe of electromotor self, it is not necessary to increase other speed probes, simplify system structure；3) motor instant rotating speed participates in control, direct regulation and control fuel injector or making-up air device, accelerates the response speed of system；4) process robustness is controlled higher, it is not necessary to the state of flight of controlled unmanned plane is carried out high-precision calibrating, reduces staking-out work amount.
The additional aspect of the present invention and advantage will part provide in the following description, and part will become apparent from the description below, or is recognized by the practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or the additional aspect of the present invention and advantage are from conjunction with will be apparent from easy to understand the accompanying drawings below description to embodiment, wherein:
Fig. 1 is the flow chart that method for controlling number of revolution determined by depopulated helicopter electromotor according to embodiments of the present invention；
The BBG that Fig. 2 is one embodiment of the invention determines rotating speed control schematic diagram；
The carburetor engine that Fig. 3 is one embodiment of the invention determines rotating speed control schematic diagram；And
Fig. 4 is the structured flowchart that revolution speed control system determined by depopulated helicopter electromotor according to embodiments of the present invention.
Detailed description of the invention
Being described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of same or like function from start to finish.The embodiment described below with reference to accompanying drawing is illustrative of, and is only used for explaining the present invention, and is not considered as limiting the invention.
Describe depopulated helicopter electromotor according to embodiments of the present invention below in conjunction with accompanying drawing determine method for controlling number of revolution and control system.
Fig. 1 is that the flow chart of method for controlling number of revolution determined by depopulated helicopter electromotor according to an embodiment of the invention.As it is shown in figure 1, method for controlling number of revolution determined by depopulated helicopter electromotor according to an embodiment of the invention, comprise the following steps:
Step S1: the mean speed of detection electromotor and transient speed.
Specifically, in one embodiment of the invention, the method obtaining mean speed is such as: obtain the number of pulses of tach signal of unit interval intrinsic motivation, and determines the mean speed of electromotor according to the number of pulses of tach signal, particularly as follows:
RPMavarage=nsensor/ (N Δ t) × 60,
Wherein, RPMavarageFor the mean speed of electromotor, Δ t is the unit time, nsensorFor the number of pulses of the tach signal at unit interval intrinsic motivation, N is the number of pulses of the tach signal in engine rotation one turn.
Simultaneously, it is necessary to calculate the transient speed of electromotor, in an embodiment of the present invention, the transient speed of electromotor is the equivalent tachometer value in one work cycle of electromotor.The specific formula for calculation of the transient speed of electromotor is:
RPMinstant=60/T,
Wherein, RPMinstantFor the transient speed of electromotor, T is that the engine crankshaft that work cycle is corresponding rotates a cycle turnover.It should be noted that for four-stroke engine, work cycle engine rotation two turns, T now is the half of electromotor work cycle；For one work cycle engine rotation of two stroke engine one turn, T now is identical with electromotor work cycle.
Wherein, the tach signal of electromotor uses the speed probe detection of electromotor self to obtain.In an embodiment of the present invention, electromotor is such as BBG or carburetor engine, for instance shown in Fig. 2 and Fig. 3.When electromotor is BBG, tach signal is the pulse signal of engine trigger output；When electromotor is carburetor engine, this tach signal is ignition coil pulse signal.
Further, in one embodiment of the invention, also include: carry out Phototube Coupling by the symplectic above-mentioned tach signal of light, to reduce electromagnetic interference.That is, pulse signal or ignition coil pulse signal to trigger output carry out Phototube Coupling, to reduce the electromagnetic interference of both signals.
Step S2: throttle opening is adjusted according to the state of flight information that the difference between the mean speed of electromotor and the rotating speed of target of electromotor and depopulated helicopter are current.Wherein, in one embodiment of the invention, the state of flight information that depopulated helicopter is current such as includes pitch and the flight speed of the rotor of depopulated helicopter.
Specifically, in conjunction with shown in Fig. 2 and Fig. 3, mean speed according to electromotor, feedback control is adopted to provide engine air throttle aperture (accelerator open degree), in this process, it is concurrently accessed the rotating speed of target that electromotor is current, passes through controller correction throttle opening by the difference of mean speed with rotating speed of target.The current state of flight information (pitch of rotor, flight speed) of depopulated helicopter is as the feedforward correction of this control process, thus stablizing engine speed under Helicopter Maneuver Flight state.Wherein, state of flight participates in the means acquisition that the throttle opening information of feedforward correction uses Experimental Calibration to be combined with Theoretical Calculation, Experimental Calibration is made without Accurate Calibration, choose specified point for engine power external characteristic curve to demarcate, by tabling look-up and approximating method determines feedforward value in control process.
Step S3: determine distributive value and oil injection time according to the status information of the throttle opening after adjusting and electromotor.
Step S4: according to the transient speed of electromotor, distributive value and oil injection time or air compensation are modified, and carry out Injection Control according to revised distributive value and oil injection time, and carry out gas supply control according to air compensation.Specifically, in conjunction with Fig. 2 and Fig. 3, due to electromotor transient speed than mean speed change substantially, utilize and revise the fuel injector fuel injection pulsewidth demarcated and oil spout phase place stablizes the transient speed of electromotor, thus reaching to allow electromotor user demand of even running under specific operation.Carburetor engine is adjusted to the making-up air device of electromotor by corresponding actuator, and then reach the Adjustment effect same with BBG.Wherein throttle control and QI invigorating operating mechanism use steering wheel or motor to complete.
To sum up, in the control method of the embodiment of the present invention, motor instant rotating speed and mean speed decoupling are used, thus reducing the amount of calculation of controller；By by engine peed stable, reaching the order allowing lifting airscrew work under constant rotational speed.
To sum up, method for controlling number of revolution determined by depopulated helicopter electromotor according to embodiments of the present invention, have the advantage that 1) participate in controlling by double; two rotating speeds (mean speed and transient speed), each rotating speed participates in the control of independent actuator, promoting the stability of engine speed, in control process simultaneously, operand does not have excessive raising；2) use the mode that electromotor is controlled to control lifting airscrew rotating speed, only need to use the speed probe of electromotor self, it is not necessary to increase other speed probes, simplify system structure；3) motor instant rotating speed participates in control, direct regulation and control fuel injector or making-up air device, accelerates the response speed of system；4) process robustness is controlled higher, it is not necessary to the state of flight of controlled unmanned plane is carried out high-precision calibrating, reduces staking-out work amount.
Further embodiment of the present invention additionally provides a kind of depopulated helicopter electromotor and determines revolution speed control system.
Fig. 4 is that the structured flowchart of revolution speed control system determined by depopulated helicopter electromotor according to an embodiment of the invention.As shown in Figure 4, this depopulated helicopter electromotor is determined revolution speed control system 100 and is included: detection module 110, control module 120, EFI module 130 and adjusting module 140.
Wherein, detection module 110 is for detecting mean speed and the transient speed of electromotor.
Specifically, in one embodiment of the invention, the method obtaining mean speed is such as: obtain the number of pulses of tach signal of unit interval intrinsic motivation, and determines the mean speed of electromotor according to the number of pulses of tach signal, particularly as follows:
RPMavarage=nsensor/ (N Δ t) × 60,
Wherein, RPMavarageFor the mean speed of electromotor, Δ t is the unit time, nsensorFor the number of pulses of the tach signal at unit interval intrinsic motivation, N is the number of pulses turning tach signal in engine rotation one turn.
Simultaneously, it is necessary to calculate the transient speed of electromotor, in an embodiment of the present invention, the transient speed of electromotor is the equivalent tachometer value in one work cycle of electromotor.The specific formula for calculation of the transient speed of electromotor is:
RPMinstant=60/T,
Wherein, RPMinstantFor the transient speed of electromotor, T is that the engine crankshaft that work cycle is corresponding rotates a cycle turnover.It should be noted that for four-stroke engine, work cycle engine rotation two turns；For one work cycle engine rotation of two stroke engine one turn.
Wherein, the tach signal of electromotor uses the speed probe detection of electromotor self to obtain.In an embodiment of the present invention, electromotor is such as BBG or carburetor engine.When electromotor is BBG, tach signal is the pulse signal of engine trigger output；When electromotor is carburetor engine, tach signal is ignition coil pulse signal.
Further, in one embodiment of the invention, photoelectric isolation module 150 (not shown) is also included.Photoelectric isolation module 150 is for carrying out Phototube Coupling by the symplectic above-mentioned tach signal of light, to reduce electromagnetic interference.That is, pulse signal or ignition coil pulse signal to trigger output carry out Phototube Coupling, to reduce the electromagnetic interference of both signals.
Control module 120 for throttle opening being adjusted according to the state of flight information that the difference between mean speed and the rotating speed of target of electromotor of electromotor and depopulated helicopter are current.Wherein, in one embodiment of the invention, the state of flight information that depopulated helicopter is current such as includes pitch and the flight speed of the rotor of depopulated helicopter.
Specifically, mean speed according to electromotor, adopts feedback control to provide engine air throttle aperture (accelerator open degree), in this process, it is concurrently accessed the rotating speed of target that electromotor is current, passes through controller correction throttle opening by the difference of mean speed with rotating speed of target.The current state of flight information (pitch of rotor, flight speed) of depopulated helicopter is as the feedforward correction of this control process, thus stablizing engine speed under Helicopter Maneuver Flight state.Wherein, state of flight participates in the means acquisition that the throttle opening information of feedforward correction uses Experimental Calibration to be combined with Theoretical Calculation, Experimental Calibration is made without Accurate Calibration, very engine power external characteristic curve is chosen specified point to demarcate, by tabling look-up and approximating method determines feedforward value in control process.
EFI module 130 is for determining distributive value and oil injection time according to the status information of the throttle opening after adjusting and electromotor.
Distributive value and oil injection time or air compensation are modified by adjusting module 140 for the transient speed according to electromotor, and carry out Injection Control according to revised distributive value and oil injection time, and carry out gas supply control according to air compensation.Specifically, due to electromotor transient speed than mean speed change substantially, utilize and revise the fuel injector fuel injection pulsewidth demarcated and oil spout phase place stablizes the transient speed of electromotor, thus reaching to allow electromotor user demand of even running under specific operation.Carburetor engine is adjusted to the making-up air device of electromotor by corresponding actuator, and then reach the Adjustment effect same with BBG.Wherein throttle control and QI invigorating operating mechanism use steering wheel or motor to complete.
To sum up, in the control system of the embodiment of the present invention, motor instant rotating speed and mean speed decoupling are used, thus reducing the amount of calculation of controller；By by engine peed stable, reaching the order allowing lifting airscrew work under constant rotational speed.
To sum up, revolution speed control system determined by depopulated helicopter electromotor according to embodiments of the present invention, have the advantage that 1) participate in controlling by double; two rotating speeds (mean speed and transient speed), each rotating speed participates in the control of independent actuator, promoting the stability of engine speed, in control process simultaneously, operand does not have excessive raising；2) use the mode that electromotor is controlled to control lifting airscrew rotating speed, only need to use the speed probe of electromotor self, it is not necessary to increase other speed probes, simplify system structure；3) motor instant rotating speed participates in control, direct regulation and control fuel injector or making-up air device, accelerates the response speed of system；4) process robustness is controlled higher, it is not necessary to the state of flight of controlled unmanned plane is carried out high-precision calibrating, reduces staking-out work amount.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axially ", " radially ", orientation or the position relationship of the instruction such as " circumference " are based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than the device of instruction or hint indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not considered as limiting the invention.
Additionally, term " first ", " second " are only for descriptive purposes, and it is not intended that indicate or imply relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or implicitly include at least one this feature.In describing the invention, " multiple " are meant that at least two, for instance two, three etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, for instance, it is possible to it is fixing connection, it is also possible to be removably connect, or integral；Can be mechanically connected, it is also possible to be electrical connection；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, it is possible to be connection or the interaction relationship of two elements of two element internals, unless otherwise clear and definite restriction.For the ordinary skill in the art, it is possible to understand above-mentioned term concrete meaning in the present invention as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be fisrt feature immediately below second feature or obliquely downward, or be merely representative of fisrt feature level height less than second feature.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means in conjunction with this embodiment or example describe are contained at least one embodiment or the example of the present invention.In this manual, the schematic representation of above-mentioned term is necessarily directed to identical embodiment or example.And, the specific features of description, structure, material or feature can combine in one or more embodiments in office or example in an appropriate manner.Additionally, when not conflicting, the feature of the different embodiments described in this specification or example and different embodiment or example can be carried out combining and combining by those skilled in the art.
Although above it has been shown and described that embodiments of the invention, it is understandable that, above-described embodiment is illustrative of, it is impossible to be interpreted as limitation of the present invention, and above-described embodiment can be changed, revises, replace and modification by those of ordinary skill in the art within the scope of the invention.
Claims (10)
1. method for controlling number of revolution determined by a depopulated helicopter electromotor, it is characterised in that comprise the following steps:
The mean speed of detection electromotor and transient speed；
Throttle opening is adjusted by the difference between mean speed and the rotating speed of target of electromotor according to described electromotor and the current state of flight information of depopulated helicopter；
Status information according to the throttle opening after adjusting and electromotor determines distributive value and oil injection time；And
Described distributive value and oil injection time or described air compensation are modified by the transient speed according to described electromotor, and carry out Injection Control according to revised distributive value and oil injection time, and carry out gas supply control according to described air compensation.
2. method for controlling number of revolution determined by depopulated helicopter electromotor according to claim 1, it is characterised in that the mean speed of described detection electromotor and transient speed, specifically includes:
Obtain the number of pulses of the tach signal of described electromotor in the unit interval, and determine the mean speed of described electromotor according to the number of pulses of described tach signal, particularly as follows:
RPMavarage=nsensor/ (N Δ t) × 60,
Wherein, RPMavarageFor the mean speed of described electromotor, Δ t is the described unit interval, nsensorFor the number of pulses of the tach signal of electromotor described within the described unit interval, N is the number of pulses of the tach signal in engine rotation one turn；
The transient speed of described electromotor is calculated by equation below:
RPMinstant=60/T,
Wherein, RPMinstantFor the transient speed of described electromotor, T is that the engine crankshaft that work cycle is corresponding rotates a cycle turnover.
3. method for controlling number of revolution determined by depopulated helicopter electromotor according to claim 2, it is characterised in that
Described electromotor is BBG, and described tach signal is the pulse signal of described engine trigger output, or,
Described electromotor is carburetor engine, and described tach signal is ignition coil pulse signal.
4. method for controlling number of revolution determined by depopulated helicopter electromotor according to claim 3, it is characterised in that also include:
Phototube Coupling is carried out by the symplectic described tach signal of light.
5. method for controlling number of revolution determined by depopulated helicopter electromotor according to claim 1, it is characterised in that the current state of flight information of described depopulated helicopter includes pitch and the flight speed of the rotor of described depopulated helicopter.
6. revolution speed control system determined by a depopulated helicopter electromotor, it is characterised in that including:
Detection module, described detection module is for detecting mean speed and the transient speed of electromotor；
Controlling module, described control module is for being adjusted throttle opening according to the state of flight information that the difference between mean speed and the rotating speed of target of electromotor of described electromotor and depopulated helicopter are current；
EFI module, described EFI module is for determining distributive value and oil injection time according to the status information of the throttle opening after adjusting and electromotor；And
Adjusting module, described adjusting module is for being modified described distributive value and oil injection time or described air compensation according to the transient speed of described electromotor, and carry out Injection Control according to revised distributive value and oil injection time, and carry out gas supply control according to described air compensation.
7. revolution speed control system determined by depopulated helicopter electromotor according to claim 6, it is characterised in that the mean speed of described detection electromotor and transient speed, specifically includes:
Obtain the number of pulses of the tach signal of described electromotor in the unit interval, and determine the mean speed of described electromotor according to the number of pulses of described tach signal, particularly as follows:
RPMavarage=nsensor/ (N Δ t) × 60,
Wherein, RPMavarageFor the mean speed of described electromotor, Δ t is the described unit interval, nsensorFor the number of pulses of the tach signal of electromotor described within the described unit interval, N is the number of pulses of the tach signal in engine rotation one turn；
The transient speed of described electromotor is calculated by equation below:
RPMinstant=60/T,
Wherein, RPMinstantFor the transient speed of described electromotor, T is that the engine crankshaft that work cycle is corresponding rotates a cycle turnover.
8. revolution speed control system determined by depopulated helicopter electromotor according to claim 7, it is characterised in that
Described electromotor is BBG, and described tach signal is the pulse signal of described engine trigger output, or,
Described electromotor is carburetor engine, and described tach signal is ignition coil pulse signal.
9. revolution speed control system determined by depopulated helicopter electromotor according to claim 8, it is characterised in that also include:
Photoelectric isolation module, described photoelectric isolation module is for carrying out Phototube Coupling by the symplectic described tach signal of light.
10. revolution speed control system determined by depopulated helicopter electromotor according to claim 6, it is characterised in that the current state of flight information of described depopulated helicopter includes pitch and the flight speed of the rotor of described depopulated helicopter.
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| CN107061026A (en) * | 2016-12-14 | 2017-08-18 | 景德镇昌航航空高新技术有限责任公司 | A kind of helicopter accelerator linkage mechanism control method |
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| CN113002760A (en) * | 2021-04-13 | 2021-06-22 | 北京北航天宇长鹰无人机科技有限公司 | Automatic control method for rotating speed of propeller |
| CN114165345A (en) * | 2021-12-16 | 2022-03-11 | 潍柴动力股份有限公司 | Single-cylinder engine control method and device, vehicle and storage medium |
| CN114165345B (en) * | 2021-12-16 | 2023-11-17 | 潍柴动力股份有限公司 | Single cylinder engine control method and device, vehicle and storage medium |
| CN115145203A (en) * | 2022-07-26 | 2022-10-04 | 广州市赛皓达智能科技有限公司 | Unmanned helicopter control system and algorithm thereof |
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