CN106160617A - The motor control method of aircraft, device, electron speed regulator and aircraft - Google Patents
The motor control method of aircraft, device, electron speed regulator and aircraft Download PDFInfo
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- CN106160617A CN106160617A CN201610601341.3A CN201610601341A CN106160617A CN 106160617 A CN106160617 A CN 106160617A CN 201610601341 A CN201610601341 A CN 201610601341A CN 106160617 A CN106160617 A CN 106160617A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Aviation & Aerospace Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The embodiment of the present application provides the motor control method of a kind of aircraft, device, electron speed regulator and aircraft, described method includes: receive the rotating speed controlling value of flight control units transmission and the estimation tachometer value of the motor of vector control unit feedback, and determine speed error value according to estimation tachometer value and rotating speed controlling value, and speed error value is carried out proportional integral computing, to obtain reference current value.Obtain the current error value between the estimation current value of reference current value and vector control unit feedback, and this current error value is carried out proportional integral computing, to obtain reference voltage level.Reference voltage level is inputted to vector control unit, so that vector control unit controls electric machine rotation according to reference voltage level.The embodiment of the present application improves existing control mode rotating speed and there is bigger error, the problem being not suitable for the system having higher requirements rotating speed.
Description
Technical field
The application relates to vehicle technology field, in particular to the motor control method of a kind of aircraft, device,
Electron speed regulator and aircraft.
Background technology
Along with the development of aircraft industry, for the control method of electron speed regulator of aircraft also the most perfect.
Existing control electron speed regulator uses the mode of current loop control to carry out mostly, current loop control refer to by
The current feedback that motor is exported by control circuit is to the mode of current input terminal, and electron speed regulator is then by certain pulse width signal
It is sent to control the motor of revolution speed of propeller.This control mode controls the rotating speed of propeller by electron speed regulator, and rotating speed can be deposited
In bigger error, be not suitable for the system that rotating speed is had higher requirements.
Summary of the invention
In view of this, the embodiment of the present application provide the motor control method of a kind of aircraft, device, electron speed regulator with
And aircraft, to improve in existing motor control mode, there is bigger error in rotating speed, is not suitable for having higher requirements rotating speed
The problem of system.
For achieving the above object, the embodiment of the present application provides the motor control method of a kind of aircraft, described method bag
Include: receive the rotating speed controlling value of flight control units transmission and the estimation tachometer value of the motor of vector control unit feedback；Determine
Speed error value between described estimation tachometer value and described rotating speed controlling value；Described speed error value is carried out proportional integral fortune
Calculate, to obtain reference current value；Receive the estimation current value of the motor of described vector control unit feedback；Determine described estimation electricity
Current error value between flow valuve and described reference current value；Described current error value is carried out proportional integral computing, to obtain
Reference voltage level；By the input of described reference voltage level to described vector control unit, so that described vector control unit is according to institute
State reference voltage level and control the rotation of described motor.
The embodiment of the present application additionally provides a kind of motor control assembly, and this device includes: the first receiver module, is used for receiving
The rotating speed controlling value of flight control units transmission and the estimation tachometer value of the motor of vector control unit feedback；Speed error obtains
Module, for determining the speed error value between described estimation tachometer value and described rotating speed controlling value；Reference current acquisition module,
For described speed error value is carried out proportional integral computing, to obtain reference current value；Estimation electric current acquisition module, is used for connecing
Receive the estimation current value of the motor of described vector control unit feedback；Current error acquisition module, is used for determining described estimation electricity
Current error value between flow valuve and described reference current value；Reference voltage acquisition module, for entering described current error value
Row proportional integral computing, to obtain reference voltage level；First input module, for by described reference voltage level input extremely described arrow
Amount control unit, so that described vector control unit controls the rotation of described motor according to described reference voltage level.
The embodiment of the present application additionally provides a kind of electron speed regulator, and this electron speed regulator includes that above-mentioned motor controls dress
Put.
The embodiment of the present application additionally provides a kind of aircraft, and this aircraft includes above-mentioned electron speed regulator.
Having of the motor control method of aircraft, device, electron speed regulator and the aircraft that the embodiment of the present application provides
Benefit effect is:
Rotating speed controlling value and vector control unit that the embodiment of the present application sends by receiving flight control units feed back
The estimation tachometer value of motor, and determine speed error value according to estimation tachometer value and rotating speed controlling value, and to speed error
Value carries out proportional integral computing, to obtain reference current value, it is thus achieved that reference current value is electric with the estimation of vector control unit feedback
Current error value between flow valuve, and this current error value is carried out proportional integral computing, to obtain reference voltage level.By reference
Magnitude of voltage inputs to vector control unit, so that vector control unit controls electric machine rotation according to reference voltage level.With existing
Control mode is compared, and the embodiment of the present application is by receiving the estimation tachometer value that feeds back to of vector control unit and estimation current value
Reference voltage level is adjusted, there is bigger error improving the rotating speed of existing control mode, be not suitable for rotating speed is had
The problem of the system of high requirement.
Accompanying drawing explanation
For clearer explanation the embodiment of the present application or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of application, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the schematic block diagram of the aircraft that the embodiment of the present application provides；
Fig. 2 is the schematic block diagram of the vector control unit that the embodiment of the present application provides；
Fig. 3 is the flow chart of the motor control method of the aircraft that the embodiment of the present application provides；
Fig. 4 is the concrete steps flow chart of step S1 shown in Fig. 3；
Fig. 5 is the flow process of a kind of detailed description of the invention of the motor control method of the aircraft that the embodiment of the present application provides
Figure；
Fig. 6 is the concrete steps flow chart of step S10 shown in Fig. 5；
Fig. 7 is the rotary speed data function relation figure with the pulling force data of propeller of propeller；
Fig. 8 is the schematic block diagram of the motor control assembly of the aircraft that the application one embodiment provides；
Fig. 9 is the schematic block diagram of the first receiver module shown in Fig. 8.
Detailed description of the invention
Below in conjunction with accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clear, complete
Ground describes, it is clear that described embodiment is only some embodiments of the present application rather than whole embodiments.The most right
The detailed description of the embodiments herein provided in the accompanying drawings is not intended to limit claimed scope of the present application, but
It is merely representative of the selected embodiment of the application.Based on embodiments herein, those skilled in the art are not making creativeness
The every other embodiment obtained on the premise of work, broadly falls into the scope of the application protection.
Refer to the schematic block diagram of the aircraft 100 that Fig. 1, Fig. 1 show that the embodiment of the present application provides.Such as Fig. 1
Shown in, aircraft 100 can include memorizer 102, storage control 104, controller 106, flight control units 108, communication
Unit 110, electron speed regulator 112, motor 114, comprise vector control unit 200 in wherein said electron speed regulator 112.These
Assembly can realize data interaction each other or communication by one or more communication bus or holding wire 116.Specifically,
Described flight control units 108 is connected with described controller 106, and described controller 106 is connected with described electron speed regulator 112,
Described vector control unit 200 is connected with described motor 114.
Memorizer 102 can store various software program and module, the motor controlling party provided such as the embodiment of the present application
Programmed instruction/the module of method, controller 106 is stored in the software program in memorizer 102 and module by operation, thus holds
The various functions of row, application and data process, the motor control method provided such as the embodiment of the present application.
Memorizer 102 can include but not limited to random access memory (Random Access Memory, RAM), only
Read memorizer (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
The access of memorizer 102 can be carried out under the control of storage control 104 by controller 106 and other possible assemblies.
Memorizer 102 can be the memorizer of peripheral hardware, such as peripheral hardware hard disk.Certainly, memorizer 102 can also be with other yuan
Part such as storage control 104, controller 106 integrates, and the particular location that memorizer 102 is arranged should not be construed and is
Restriction to the application.
Controller 106 can be a kind of IC chip, has signal handling capacity.Controller noted above 106 can be
General processor, including central processing unit (Central Processing Unit is called for short CPU), network processing unit (Network
Processor, is called for short NP) etc.；Can also is that digital signal processor (DSP), special IC (ASIC), ready-made able to programme
Gate array (FPGA) or other PLDs, discrete gate or transistor logic, discrete hardware components.It can
To realize or to perform the disclosed each method in the embodiment of the present application, step.General processor can be microprocessor or
This controller can also be the processor etc. of any routine.
Flight control units 108 can control aircraft 100 and perform aerial mission according to the instruction of controller 106.One
In a little embodiments, flight control units 108, controller 106 and storage control 104 can realize in one single chip.?
In some other example, they can be realized by independent chip respectively.
Communication unit 110 is used for realizing between remote controller, control station or other suitable equipment and flight control units 108
Mutual.Specifically, communication unit 110 can include Universal Power PWC, communication host node plate NOD, Emergency Action Board EMA,
Master processor plate MPU, Clock Drive Board CKV, network board BNET, memory plane MEM, Multi-Frequency Compelled Board MFC, Protocol Processing Board
LAP, alarm plate ALM, Signal Tone board SIG SIG, Inter-Module Communication Processing Board LPMC2 and Optical Interface Board OPT.Communication unit 110 can
For receiving the different control instruction that user is inputted by remote controller, and this control instruction is sent to flight control units
108。
The control instruction that flight control units 108 sends for receiving communication unit 110, and send phase according to control instruction
That answers controls signal to electron speed regulator 112.The control signal that flight control units 108 sends is specially control signal value.
Electron speed regulator 112 is for receiving the control signal value of flight control units 108 output, by described control signal value
Be converted to rotating speed controlling value, and the estimation tachometer value of the motor fed back according to described rotating speed controlling value and vector control unit, really
Fixed speed error value between described estimation tachometer value and described rotating speed controlling value；Described speed error value is carried out proportional integral
Computing, to obtain reference current value；Receive the estimation current value of the motor of described vector control unit feedback；Determine described estimation
Current error value between current value and described reference current value；Described current error value is carried out proportional integral computing, to obtain
Obtain reference voltage level；By the input of described reference voltage level to described vector control unit 200, so that described vector control unit
200 control the rotation of described motor according to described reference voltage level.Wherein described control signal value is converted to rotating speed controlling value
A kind of embodiment be: directly be converted to transfer by control signal value according to the linear relationship of control signal value with rotating speed controlling value
Controlling value, another kind of embodiment is: obtains according to the Linear Mapping relation of predetermined control signal value with output force value and controls
The output force value that signal value is corresponding.Electron speed regulator 112 is further according to the functional relationship of predetermined output force value Yu motor speed value
Obtain the tachometer value corresponding with output force value.The control signal corresponding to tachometer value that described output force value is corresponding can be as flying
Row control unit 108 sends the rotating speed controlling value to electron speed regulator 112.
Electron speed regulator 112 is the control device controlling motor 114 rotating speed, can be divided into electricity according to the difference of controlling organization
Minor, fluid pressure type, pneumatic type and mechanical type, and the electron speed regulator 112 that the embodiment of the present application provides can be electronic type electricity
Sub-speed regulator.
Be appreciated that the structure shown in Fig. 1 be only signal, aircraft 100 can also include more more than shown in Fig. 1 or
Less assembly, or there is the configuration different from shown in Fig. 1.Each assembly shown in Fig. 1 can use hardware, software or its
Combination realizes.
Refer to the structural representation of the vector control unit 200 that Fig. 2, Fig. 2 show that the embodiment of the present application provides.Such as figure
In 2 shown in dotted line frame, vector control unit 200 includes Park inverse transform module 210, SVM module 220, three phase full bridge module
230, Clarke conversion module 240, Park conversion module 250 and position and velocity estimation module 260.
Clarke conversion module 240 is for obtaining current signal Ia, Ib, Ic of three phase full bridge module 230 output.Wherein,
Ia, Ib, Ic are the electric current of each phase in three phase full bridge module 230.Clarke conversion module 240 by Clarke conversion by Ia,
Ib, Ic are transformed to I α and I β, are transformed to the rhombic system of two axles from three axles, two dimension stator coordinate by current signal.Its
In, three above-mentioned axles are respectively a axle, b axle and c-axis；Two above-mentioned axles are respectively α axle and β axle.
I α and I β, after Park conversion module 250 carries out Park conversion, is transformed to Id and Iq, makes electric current by the two static seats of axle
Mark system, transforms to two axle rotating coordinate systems.Wherein, the Two coordinate axle of two axle rest frames is respectively α axle and β axle；Two axle rotations
The Two coordinate axle turning coordinate system is respectively d axle and q axle.Angle between alpha-beta axis coordinate system and d-q axis coordinate system can use θ table
Show.Wherein, Iq is the estimation current value of the described motor that vector control unit feeds back.
Position and velocity estimation module 260 are for receiving I α and I β and the voltage transmitted through three phase full bridge module 230
Va, Vb, Vc, and position and the rotating speed of motor 114 is estimated according to above-mentioned parameter.Wherein, the electricity estimated according to above-mentioned parameter
The rotational speed omega of machine 114 is the estimation tachometer value of motor.Va is the voltage signal that Ia is corresponding, and Vb is the voltage signal that Ib is corresponding,
Vc is the voltage signal that Ic is corresponding.
Electric current Id obtains Vd, Park inverse transform module 210 after proportional integral computing and receives Vd and reference voltage level Vq, and
V α and V β is obtained through Park inverse transformation.I.e. voltage signal was originally expressed as Vd and Vq in two axle rotating coordinate systems, and voltage is believed
Two axle rest frames number after the conversion are expressed as V α and V β.
SVM (Space Vector Modulation) module 220 can carry out Clarke inverse transformation to V α and V β, it is thus achieved that
Vr1, Vr2 and Vr3.I.e. voltage signal was originally expressed as V α and V β in two axle rest frames, and voltage signal is after the conversion
Three axle threephase stator reference frames are expressed as Vr1, Vr2 and Vr3.Then use and control Vector Modulation (Space Vector
Modulation) pulse-width signal of the voltage signal of technology generation motor 114.
Three phase full bridge module 230 obtains Va, Vb, Vc according to Vr1, Vr2 and Vr3, and the most corresponding with Va, Vb, Vc
Ia、Ib、Ic。
Embodiment
Refer to the motor control being applied to the aircraft 100 shown in Fig. 1 that Fig. 3, Fig. 3 show that the embodiment of the present application provides
The flow chart of method processed.The relevant step of described method can be realized by described electron speed regulator 112.Below to shown in Fig. 3
Idiographic flow is described in detail.As it is shown on figure 3, the rotating mechanism control method that the embodiment of the present application provides can include as follows
Step.
Step S1, receives the rotating speed controlling value of flight control units transmission and the estimation of the motor of vector control unit feedback
Tachometer value.
Concrete, flight control units 108 send for control signal value, electron speed regulator 112 can be according to control signal
This control signal value is converted to transfer controlling value by value with the linear relationship of rotating speed controlling value.Electron speed regulator 112 receives flight
The rotating speed controlling value of control unit 108 so as can according to this rotating speed controlling value, by the adjustment of rotational speed of motor 114 to this rotating speed
Controlling value is consistent, ω Ref i.e. as shown in Figure 2.
Step S2, determines the speed error value between described estimation tachometer value and described rotating speed controlling value.
Specifically can subtract each other, to obtain speed error value with estimation tachometer value ω with rotating speed controlling value ω Ref.
Step S3, carries out proportional integral computing to described speed error value, to obtain reference current value.
Rotating speed controlling value is subtracted each other, with estimation tachometer value, the speed error value obtained and carries out proportional integral computing, to obtain ginseng
Examining current value IqRef, details refer to Fig. 2.
Step S4, receives the estimation current value of the motor of described vector control unit feedback.
In vector control unit, three phase full bridge module 230 exports Ia, Ib, Ic.Wherein, Ia, Ib, Ic are three phase full bridge
The electric current of each phase in module 230.Ia, Ib, Ic are after Clarke conversion module 240 carries out Clarke conversion, it is thus achieved that I α and I β.
I α and I β is after Park conversion module 250 carries out Park conversion, it is thus achieved that Id and Iq.Wherein, Iq is the estimation of above-mentioned motor 114
Current value.
Step S5, determines the current error value between described estimation current value and described reference current value.
Specifically can subtract each other, to obtain current error value with estimation current value with reference current value.
Step S6, carries out proportional integral computing to described current error value, to obtain reference voltage level.
The current error value that reference current value IqRef and estimation current value Iq is subtracted each other acquisition carries out proportional integral computing,
To obtain reference voltage level Vq.
Step S7, by the input of described reference voltage level to described vector control unit 200, so that described vector control unit
200 control the rotation of described motor according to described reference voltage level.
Details refer to Fig. 2, and after reference voltage level Vq input to vector control unit, vector control unit is to Vq and Vd
Carry out Park inverse transformation and obtain V α and V β, subsequently V α and V β is carried out Clarke inverse transformation, it is thus achieved that Vr1, Vr2 and Vr3.Then
Three phase full bridge through vector control unit obtains Va, Vb, Vc, and Ia, Ib, Ic the most corresponding with Va, Vb, Vc.Vector
Ia, Ib, Ic are exported to motor 114 to control the rotation of motor 114 by control unit.
The embodiment of the present application is by receiving the estimation tachometer value that feeds back to of vector control unit 200 and estimation current value
Reference voltage level is adjusted so that motor 114 rotating speed diminishes with the error of control signal value, is suitable for that rotating speed is had higher wanting
The system asked.
Details refer to Fig. 4, Fig. 4 and show the concrete steps of step S1 shown in another embodiment of the application, including:
Step S11, receives the control signal value of flight control units 112 output.
This control signal value can be specifically a nondimensional numerical value, and this numerical value can be any between 0 16384
Value.The concrete numerical value of this control signal value can correspond to the control range of the remote controller of unmanned plane.For example, it is possible to pass through remote control
The rotating speed of the motor 114 of unmanned plane is controlled by the pull bar of device, when the half of pull bar range moved to by the pull bar of remote controller, flies
Row control unit 108 can export the control signal value that numerical value is 16384/2=8192.
Step S12, obtains according to predetermined control signal value and the Linear Mapping relation of output force value and controls letter with described
Number output force value that value is corresponding.
When described power output is motor 114 rotation drive propeller rotational, pulling force produced by described propeller rotational.
Control signal value can be that output force value=control signal value/maximum controls with the Linear Mapping relation of output force value
Signal value × maximum output force value.Wherein, maximum control signal value can be the value arranged in advance, if such as control signal value can
During to take the value between 0 16384, maximum control signal value is 16384.Maximum output force value is that revolution speed of propeller is maximum
Time, the pulling force that propeller produces, can record in advance by the way of experiment.
Step S13, obtains and described output force value pair according to the functional relationship of predetermined output force value with motor speed value
The tachometer value answered, the rotating speed controlling value that this tachometer value is sent as the flight control units 108 received.
There is clear and definite functional relationship in output force value and motor speed value, it is thus achieved that after concrete output force value, can basis
Above-mentioned functional relationship obtains the motor speed value corresponding with output force value.
Wherein, the functional relationship of output force value and motor speed value can according to multiple output force value and with multiple outputs
The motor speed value of force value correspondence respectively determines the corresponding relation of output force value and motor speed value.
Specifically, the motor of each Along ent can be obtained respectively by carrying out N decile between 0 to maximum motor speed value
The power output that tachometer value is corresponding；Or between maximum output force value, carry out N decile by 0, obtain the output of each Along ent respectively
The motor speed value that force value is corresponding；N can be the natural number more than 1.
Control signal value and output force value are linear, and power output is that electric machine rotation drives propeller rotational, described
Pulling force produced by propeller rotational, therefore compared with existing motor control method, the method that the present embodiment provides can make flight
Device flight course is more steady.
In turn corresponding with described output force value with the acquisition of the functional relationship of motor speed value according to predetermined output force value
Before speed value, described method can also include:
Step S10, it is thus achieved that described output force value and the functional relationship of motor speed.Details refer to Fig. 5.
The motor speed of each Along ent can be obtained the most respectively by carrying out N decile between 0 to maximum motor speed value
The output force value that value is corresponding；
Can also carry out N decile by 0 between maximum output force value, the output force value obtaining each Along ent respectively is corresponding
Motor speed value.
Then according to obtaining output force value and motor speed value by the way, determine that output force value turns with motor
The functional relationship of speed value.
Details refer to Fig. 6, Fig. 6 and show the concrete steps of step S10 in Fig. 5, including step S101 to step S102.
Step S101, it is thus achieved that multiple motor speed values and the output force value corresponding with each motor speed value.
Described power output is that electric machine rotation drives propeller rotational, pulling force produced by described propeller rotational.Specifically,
Motor speed value and output force value can obtain in the following way:
By electronic scale horizontal positioned, motor 114 support is fixed on the surface of electronic scale, motor 114 is installed on above-mentioned
Motor 114 support, then propeller is installed on the motor 114 side near electronic scale so that propeller rotational produce
Pulling force can act on electronic scale.Electron speed regulator 112 is connected with motor 114, gives motor 114 by electron speed regulator 112
Rotating speed, the rotating speed of motor 114 is equal with the rotating speed of propeller, and reads the pulling force data corresponding with rotating speed on electronic scale.?
After the data of the rotating speed of pulling force and the propeller of a series of propellers, this series data can be inputted to controller by user
106。
Step S102, according to the described each motor speed value obtained and corresponding with described each motor speed value defeated
Go out force value and determine the functional relationship of described output force value and motor speed value.
Specifically can be by the motor speed value measured and data MATLAB of the pulling force corresponding with motor speed value
Modeling, to determine the functional relationship of the functional relationship of pulling force and rotating speed, i.e. output force value and motor speed value.Can certainly
Being determined by the controller 106 in aircraft, it is the restriction to the application that concrete determination process should not be construed.
Such as, motor speed can be as shown in the table with the data of pulling force:
The motor speed measured is fitted with pulling force data, to obtain the functional relationship of pulling force and motor speed,
I.e. output force value and the functional relationship of motor speed value.The expression formula of the functional relationship of described output force value and motor speed value can
Think y=ax2+ bx+c, wherein, y represents described motor speed value, and x represents described output force value.Described according to a, b, c are equal
Each motor speed value in multiple motor speed values, and the described output force value institute corresponding with described each motor speed value
The parameter determined.
The concrete equation of the pulling force determined and rotating speed refers to Fig. 7, and the expression formula of above-mentioned functional relationship is particularly as follows: y
=-0.0395x2+38.928x+133.01。
Another embodiment of the application additionally provides the motor control assembly of a kind of aircraft, and this device may be disposed at electronics and adjusts
In speed device 200, being connected with vector control unit 200, refer to Fig. 8, this device 300 includes:
First receiver module 310, anti-for the rotating speed controlling value and vector control unit receiving flight control units transmission
The estimation tachometer value of the motor of feedback.
Rotating speed controlling value includes the concrete numerical value of rotating speed, i.e. sends this rotating speed controlling value to electron speed regulator, so that electronics
Speed regulator is according to the concrete numerical value of rotating speed, and the adjustment of rotational speed of motor is consistent, the most such as to the concrete numerical value with above-mentioned rotating speed
ω Ref shown in Fig. 2.
Speed error acquisition module 320, for determining the rotating speed between described estimation tachometer value and described rotating speed controlling value
Error amount.
Specifically can subtract each other, to obtain speed error value with estimation tachometer value ω with rotating speed controlling value ω Ref.
Reference current acquisition module 330, for carrying out proportional integral computing to described speed error value, to obtain with reference to electricity
Flow valuve.
Rotating speed controlling value is subtracted each other, with estimation tachometer value, the speed error value obtained and carries out proportional integral computing, to obtain ginseng
Examining current value IqRef, details refer to Fig. 2.
Estimation electric current acquisition module 340, for receiving the estimation current value of the motor of described vector control unit feedback.
In vector control unit, three phase full bridge module 230 exports Ia, Ib, Ic.Wherein, Ia, Ib, Ic are three phase full bridge
The electric current of each phase in module 230.Ia, Ib, Ic are after Clarke conversion module 240 carries out Clarke conversion, it is thus achieved that I α and I β.
I α and I β is after Park conversion module 250 carries out Park conversion, it is thus achieved that Id and Iq.Wherein, Iq is the estimation electricity of above-mentioned motor
Flow valuve.
Current error acquisition module 350, for determining the electric current between described estimation current value and described reference current value
Error amount.
Specifically can subtract each other, to obtain current error value with estimation current value Iq with reference current value IqRef.
Reference voltage acquisition module 360, for carrying out proportional integral computing to described current error value, to obtain with reference to electricity
Pressure value.
The current error value that reference current value IqRef and estimation current value Iq is subtracted each other acquisition carries out proportional integral computing,
To obtain reference voltage level Vq.
First input module 370, for described reference voltage level is inputted to described vector control unit, so that described arrow
Amount control unit controls the rotation of described motor according to described reference voltage level.
Details refer to Fig. 2, and after reference voltage level Vq input to vector control unit, vector control unit is to Vq and Vd
Carry out Park inverse transformation and obtain V α and V β, subsequently V α and V β is carried out Clarke inverse transformation, it is thus achieved that Vr1, Vr2 and Vr3.Then
Three phase full bridge through vector control unit obtains Va, Vb, Vc, and Ia, Ib, Ic the most corresponding with Va, Vb, Vc.Vector
Ia, Ib, Ic are exported to motor to control the rotation of motor by control unit.
Details refer to Fig. 9, Fig. 9 and show the structured flowchart of the first receiver module 310.First receiver module 310 also wraps
Include:
Control signal receives submodule 311, for receiving the control signal value of flight control units output.
This control signal value can be specifically a nondimensional numerical value, and this numerical value can be any between 0 16384
Value.The concrete numerical value of this control signal value can correspond to the control range of the remote controller of unmanned plane.For example, it is possible to pass through remote control
The rotating speed of the motor of unmanned plane is controlled by the pull bar of device, when the half of pull bar range moved to by the pull bar of remote controller, flies sky
Unit can export the control signal value that numerical value is 16384/2=8192.
Linear Mapping submodule 312, for obtaining according to the Linear Mapping relation of predetermined control signal value with output force value
Output force value that must be corresponding with described control signal value；Described power output is that electric machine rotation drives propeller rotational, described spiral
Oar rotates produced pulling force.
When described power output is electric machine rotation drive propeller rotational, pulling force produced by described propeller rotational.
Control signal value can be that output force value=control signal value/maximum controls with the Linear Mapping relation of output force value
Signal value × maximum output force value.Wherein, maximum control signal value can be the value arranged in advance, if such as control signal value can
During to take the value between 0 16384, maximum control signal value is 16384.Maximum output force value is that revolution speed of propeller is maximum
Time, the pulling force that propeller produces, can record in advance by the way of experiment.
Functional relationship submodule 313, for the functional relationship according to predetermined output force value and motor speed value obtain with
The tachometer value that described output force value is corresponding, the rotating speed controlling value that this tachometer value is sent as the flight control units received.
There is clear and definite functional relationship in output force value and motor speed value, it is thus achieved that after concrete output force value, can basis
Above-mentioned functional relationship obtains the motor speed value corresponding with output force value.
Wherein, the functional relationship of output force value and motor speed value can according to multiple output force value and with multiple outputs
The motor speed value of force value correspondence respectively determines the corresponding relation of output force value and motor speed value.
Specifically, the motor of each Along ent can be obtained respectively by carrying out N decile between 0 to maximum motor speed value
The power output that tachometer value is corresponding；Or between maximum output force value, carry out N decile by 0, obtain the output of each Along ent respectively
The motor speed value that force value is corresponding；N can be the natural number more than 1.
Control signal value and output force value are linear, and power output is that electric machine rotation drives propeller rotational, described
Pulling force produced by propeller rotational, therefore compared with existing motor control method, the method that the present embodiment provides can make flight
Device flight course is more steady.
Details refer to Fig. 8, also include that functional relationship acquisition module 380, described functional relationship acquisition module 380 are used for obtaining
Obtain the functional relationship of described output force value and motor speed.
This functional relationship acquisition module 380 may include that
Output force value obtains submodule 381, is used for obtaining multiple motor speed value and corresponding with each motor speed value
Output force value.
The motor speed of each Along ent can be obtained the most respectively by carrying out N decile between 0 to maximum motor speed value
The output force value that value is corresponding；N decile can also be carried out 0 between maximum output force value, obtain the defeated of each Along ent respectively
Go out the motor speed value that force value is corresponding.
Function Fitting submodule 382, for according to obtain described each motor speed value and with described each motor
The output force value that tachometer value is corresponding determines the functional relationship of described output force value and motor speed value.
Specifically can be by the motor speed value measured and data MATLAB of the pulling force corresponding with motor speed value
Modeling, to determine the functional relationship of the functional relationship of pulling force and rotating speed, i.e. output force value and motor speed value.Can certainly
Being determined by the controller 106 in aircraft, it is the restriction to the application that concrete determination process should not be construed.
The embodiment of the present application by receive the estimation tachometer value that feeds back to of vector control unit and estimation current value come right
Reference voltage level is adjusted, and the rotating speed improving existing control mode exists bigger error, is not suitable for having rotating speed higher
The problem of the system required.And by setting up the linear relationship of control signal value and output force value rather than setting up control letter
Number value and the linear relationship of rotating speed, improve existing aircraft because of the control signal value of Correction and Control revolution speed of propeller repeatedly,
So the problem that aircraft rocks shakiness in flight course.
In several embodiments provided herein, it should be understood that disclosed module and method, it is also possible to pass through
Other mode realizes.Module embodiments described above is only schematically, such as, and the flow chart in accompanying drawing and block diagram
Show the module of multiple embodiments according to the application, the architectural framework in the cards of method and computer program product,
Function and operation.In this, each square frame in flow chart or block diagram can represent a module, program segment or the one of code
Part, a part for described module, program segment or code comprises holding of one or more logic function for realizing regulation
Row instruction.It should also be noted that at some as in the implementation replaced, the function marked in square frame can also be to be different from
The order marked in accompanying drawing occurs.Such as, two continuous print square frames can essentially perform substantially in parallel, and they are the most also
Can perform in the opposite order, this is depending on involved function.It is also noted that every in block diagram and/or flow chart
The combination of the square frame in individual square frame and block diagram and/or flow chart, can be with function or the special base of action performing regulation
System in hardware realizes, or can realize with the combination of specialized hardware with computer instruction.
It addition, each functional module in each embodiment of the application can integrate one independent portion of formation
Point, it is also possible to it is modules individualism, it is also possible to two or more modules are integrated to form an independent part.
If described function is using the form realization of software function module and as independent production marketing or use, permissible
It is stored in a computer read/write memory medium.Based on such understanding, the technical scheme of the application is the most in other words
The part contributing prior art or the part of this technical scheme can embody with the form of software product, this meter
Calculation machine software product is stored in a storage medium, including some instructions with so that a computer equipment (can be individual
People's computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the application.
And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as memorizer (RAM, Random Access Memory), magnetic disc or CD.Need
Being noted that in this article, the relational terms of such as first and second or the like is used merely to an entity or operation
Separate with another entity or operating space, and exist any this between not necessarily requiring or imply these entities or operating
Actual relation or order.And, term " includes ", " comprising " or its any other variant are intended to nonexcludability
Comprise, so that include that the process of a series of key element, method, article or equipment not only include those key elements, but also wrap
Include other key elements being not expressly set out, or also include want intrinsic for this process, method, article or equipment
Element.In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that including described wanting
Process, method, article or the equipment of element there is also other identical element.
The foregoing is only the preferred embodiment of the application, be not limited to the application, for the skill of this area
For art personnel, the application can have various modifications and variations.All within spirit herein and principle, that is made any repaiies
Change, equivalent, improvement etc., within should be included in the protection domain of the application.It should also be noted that similar label and letter exist
Figure below represents similar terms, therefore, the most a certain Xiang Yi accompanying drawing is defined, is then not required in accompanying drawing subsequently
It is defined further and explains.
The above, the only detailed description of the invention of the application, but the protection domain of the application is not limited thereto, and any
Those familiar with the art, in the technical scope that the application discloses, can readily occur in change or replace, should contain
Cover within the protection domain of the application.Therefore, the protection domain of the application should described be as the criterion with scope of the claims.
Claims (13)
1. the motor control method of an aircraft, it is characterised in that described method includes:
Receive the rotating speed controlling value of flight control units transmission and the estimation tachometer value of the motor of vector control unit feedback；
Determine the speed error value between described estimation tachometer value and described rotating speed controlling value；
Described speed error value is carried out proportional integral computing, to obtain reference current value；
Receive the estimation current value of the motor of described vector control unit feedback；
Determine the current error value between described estimation current value and described reference current value；
Described current error value is carried out proportional integral computing, to obtain reference voltage level；
By the input of described reference voltage level to described vector control unit, so that described vector control unit is according to described reference electricity
Pressure value controls the rotation of described motor.
Method the most according to claim 1, it is characterised in that receive the rotating speed controlling value bag that flight control units sends
Include:
Receive the control signal value of flight control units output；
Obtain corresponding defeated with described control signal value according to predetermined control signal value and the Linear Mapping relation of output force value
Go out force value；Described power output is that electric machine rotation drives propeller rotational, pulling force produced by described propeller rotational；
The tachometer value corresponding with described output force value is obtained with the functional relationship of motor speed value according to predetermined output force value, will
The rotating speed controlling value that this tachometer value sends as the flight control units received.
Method the most according to claim 2, it is characterised in that the Linear Mapping of described control signal value and output force value is closed
System is:
Output force value=control signal value/maximum control signal value × maximum output force value.
Method the most according to claim 2, it is characterised in that according to the function of predetermined output force value Yu motor speed value
Before relation obtains the tachometer value corresponding with described output force value, described method also includes:
Obtain the functional relationship of described output force value and motor speed.
Method the most according to claim 4, it is characterised in that the described output force value of described acquisition and the letter of motor speed value
Number relation, including:
Obtain multiple motor speed value and the output force value corresponding with each motor speed value；
Described each motor speed value and the output force value corresponding with described each motor speed value according to obtaining are determined
Described output force value and the functional relationship of motor speed value.
Method the most according to claim 5, it is characterised in that obtain multiple motor speed value and with each motor speed
Output force value corresponding to value include following any one:
N decile will be carried out between 0 to maximum motor speed value, obtain the output that the motor speed value of each Along ent is corresponding respectively
Power；Or
Between maximum output force value, carry out N decile by 0, obtain the motor speed that the output force value of each Along ent is corresponding respectively
Value；N is the natural number more than 1.
7. the motor control assembly of an aircraft, it is characterised in that described device includes:
First receiver module, for receiving rotating speed controlling value and the motor of vector control unit feedback that flight control units sends
Estimation tachometer value；
Speed error acquisition module, for determining the speed error value between described estimation tachometer value and described rotating speed controlling value；
Reference current acquisition module, for carrying out proportional integral computing to described speed error value, to obtain reference current value；
Estimation electric current acquisition module, for receiving the estimation current value of the motor of described vector control unit feedback；
Current error acquisition module, for determining the current error value between described estimation current value and described reference current value；
Reference voltage acquisition module, for carrying out proportional integral computing to described current error value, to obtain reference voltage level；
First input module, for described reference voltage level is inputted to described vector control unit, so that described vector controlled
Unit controls the rotation of described motor according to described reference voltage level.
Device the most according to claim 7, it is characterised in that the first receiver module includes:
Control signal receives submodule, for receiving the control signal value of flight control units output；
Linear Mapping submodule, for obtaining with described according to the Linear Mapping relation of predetermined control signal value with output force value
The output force value that control signal value is corresponding；Described power output is that electric machine rotation drives propeller rotational, described propeller rotational institute
The pulling force produced；
Functional relationship submodule, for obtaining and described output according to the functional relationship of predetermined output force value with motor speed value
The tachometer value that force value is corresponding, the rotating speed controlling value that this tachometer value is sent as the flight control units received.
Device the most according to claim 8, it is characterised in that also include functional relationship acquisition module, described functional relationship
Acquisition module is for obtaining the functional relationship of described output force value and motor speed.
Device the most according to claim 9, it is characterised in that described functional relationship acquisition module includes:
Output force value obtains submodule, for obtaining multiple motor speed value and the power output corresponding with each motor speed value
Value；
Function Fitting submodule, for according to obtain described each motor speed value and with described each motor speed value pair
The output force value answered determines the functional relationship of described output force value and motor speed value.
11. devices according to claim 10, it is characterised in that described output force value obtains submodule, for by 0 to
Carry out N decile between big motor speed value, obtain the power output that the motor speed value of each Along ent is corresponding respectively；Or
For carrying out N decile by 0 between maximum output force value, obtain the motor that the output force value of each Along ent is corresponding respectively
Tachometer value.
12. 1 kinds of electron speed regulators, it is characterised in that described electron speed regulator includes as described in any one of claim 7 to 11
Motor control assembly.
13. 1 kinds of aircraft, it is characterised in that described aircraft includes electron speed regulator as claimed in claim 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610601341.3A CN106160617A (en) | 2016-07-27 | 2016-07-27 | The motor control method of aircraft, device, electron speed regulator and aircraft |
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| CN201610601341.3A CN106160617A (en) | 2016-07-27 | 2016-07-27 | The motor control method of aircraft, device, electron speed regulator and aircraft |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108390603A (en) * | 2018-03-08 | 2018-08-10 | 深圳市道通智能航空技术有限公司 | motor control method, its device and unmanned aerial vehicle control system |
| CN108803641A (en) * | 2018-06-08 | 2018-11-13 | 深圳臻迪信息技术有限公司 | flight control method and aircraft |
| CN108791910A (en) * | 2018-05-03 | 2018-11-13 | 深圳市道通智能航空技术有限公司 | A kind of method, apparatus and unmanned plane of Throttle Opening Control |
| WO2019233021A1 (en) * | 2018-06-07 | 2019-12-12 | 深圳市道通智能航空技术有限公司 | Motor control method and apparatus, electronic governor, and unmanned aerial vehicle |
| CN110815233A (en) * | 2019-11-28 | 2020-02-21 | 北京云迹科技有限公司 | Robot driving method, device, storage medium and robot |
| WO2020233605A1 (en) * | 2019-05-21 | 2020-11-26 | 深圳市道通智能航空技术有限公司 | Flight control method, device and system, and unmanned aerial vehicle |
| CN113992101A (en) * | 2021-12-28 | 2022-01-28 | 成都爱旗科技有限公司 | Current compensation method and device based on vector control of permanent magnet synchronous motor |
| CN117559878A (en) * | 2024-01-12 | 2024-02-13 | 深圳市好盈科技股份有限公司 | Current control method and device of model airplane electronic speed regulator and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108390603A (en) * | 2018-03-08 | 2018-08-10 | 深圳市道通智能航空技术有限公司 | motor control method, its device and unmanned aerial vehicle control system |
| CN108791910A (en) * | 2018-05-03 | 2018-11-13 | 深圳市道通智能航空技术有限公司 | A kind of method, apparatus and unmanned plane of Throttle Opening Control |
| WO2019233021A1 (en) * | 2018-06-07 | 2019-12-12 | 深圳市道通智能航空技术有限公司 | Motor control method and apparatus, electronic governor, and unmanned aerial vehicle |
| CN108803641A (en) * | 2018-06-08 | 2018-11-13 | 深圳臻迪信息技术有限公司 | flight control method and aircraft |
| WO2020233605A1 (en) * | 2019-05-21 | 2020-11-26 | 深圳市道通智能航空技术有限公司 | Flight control method, device and system, and unmanned aerial vehicle |
| CN110815233A (en) * | 2019-11-28 | 2020-02-21 | 北京云迹科技有限公司 | Robot driving method, device, storage medium and robot |
| CN113992101A (en) * | 2021-12-28 | 2022-01-28 | 成都爱旗科技有限公司 | Current compensation method and device based on vector control of permanent magnet synchronous motor |
| CN113992101B (en) * | 2021-12-28 | 2022-04-05 | 成都爱旗科技有限公司 | Current compensation method and device based on vector control of permanent magnet synchronous motor |
| CN117559878A (en) * | 2024-01-12 | 2024-02-13 | 深圳市好盈科技股份有限公司 | Current control method and device of model airplane electronic speed regulator and electronic equipment |
| CN117559878B (en) * | 2024-01-12 | 2024-03-29 | 深圳市好盈科技股份有限公司 | Current control method and device of model airplane electronic speed regulator and electronic equipment |
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