CN106227083A - A kind of unmanned plane motor phase failure monitoring and protecting device - Google Patents
A kind of unmanned plane motor phase failure monitoring and protecting device Download PDFInfo
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- CN106227083A CN106227083A CN201610574067.5A CN201610574067A CN106227083A CN 106227083 A CN106227083 A CN 106227083A CN 201610574067 A CN201610574067 A CN 201610574067A CN 106227083 A CN106227083 A CN 106227083A
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- unmanned plane
- motor
- flight control
- failure monitoring
- protecting device
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Emergency Alarm Devices (AREA)
Abstract
nullThe invention discloses a kind of unmanned plane motor phase failure monitoring and protecting device，Relate to unmanned plane detection technique field，Including electricity mode transfer block、Brshless DC motor、Voltage sampling signal change-over circuit、MCU module and system for flight control computer，Described electricity mode transfer block is connected with brshless DC motor，Described voltage sampling signal change-over circuit is connected between the circuit of electricity mediation brshless DC motor，Voltage sampling signal change-over circuit、MCU module and system for flight control computer are sequentially connected with，System for flight control computer is also associated with parachute drive circuit and alarm unit，Parachute drive circuit connects parachute actuator，The power motor that the present invention is directed to unmanned plane is monitored，Abnormal information can be delivered to accurate complicated flight control system，And the counte-rplan of fault are provided for flight，Full process automatization controls，Without manual operation.
Description
Technical field
The present invention relates to unmanned plane detection technique field, be specifically related to a kind of unmanned plane motor phase failure monitoring and protecting device.
Background technology
In low-tension motor damage accident in recent years, about 1/3rd is that Electric Motor Open-phase Situation operation causes.People
The harm caused to motor run for motor phase failure have different viewpoints, the most main 2 points that are embodied in: the first point
Thinking disconnected makes motor current increase mutually, causes motor overheating to damage；Second point is thought disconnected and is caused motor winding two ends to be produced mutually
Raw high pressure back-emf makes it puncture.Actually motor phase failure moment produces the back-emf higher than rated voltage several times at winding two ends
The harm caused to motor is much larger than the overheated harm caused to motor, and open phase fault will not be got rid of automatically, therefore to electricity
The open-phase protection of machine should use snap action protection rather than anti-time limit characteristic protection and overtemperature protection.
Existing motor operation exception monitoring device majority for ground, large-size machine equipment, although of a great variety,
Complete function, has detection, monitoring and the open phase protection of warning function.Prior art application surface is restricted, can only monitor
Conventional motor, to not having to monitor for the power motor of unmanned plane, it is difficult to abnormal information is delivered to accurate complicated flight
Control system, and the counte-rplan of fault are provided for flight.
Summary of the invention
It is an object of the invention to provide a kind of unmanned plane motor phase failure monitoring and protecting device, to solve prior art is led
The above-mentioned multinomial defect caused.
A kind of unmanned plane motor phase failure monitoring and protecting device, including electricity mode transfer block, brshless DC motor, voltage sampling signal
Change-over circuit, MCU module and system for flight control computer, described electricity mode transfer block is connected with brshless DC motor, described voltage sampling
Signaling conversion circuit be connected to electricity be in harmonious proportion brshless DC motor circuit between, voltage sampling signal change-over circuit, MCU module and
System for flight control computer is sequentially connected with, and system for flight control computer is also associated with parachute drive circuit and alarm unit, parachute
Drive circuit connects parachute actuator.
Preferably, described MCU module is connected with system for flight control computer by CAN.
Preferably, described MCU module connects wireless signal transmitting module.
Preferably, described MCU module is also associated with memory module.
Preferably, described alarm unit includes voice guard and visual alarm.
Preferably, each circuitry phase that described voltage sampling signal change-over circuit and electricity are in harmonious proportion between brshless DC motor is equal
Connect.
It is an advantage of the current invention that:
1, whole device small volume and less weight, installs to carry-on electricity tune outfan；
2, high to the electric current of motor three-phase, voltage measurement accuracy, and can the motor status signal of direct output integrated, employing
The mode of CAN and flight control system communication, the black box and the memory module that fly control will record these data, it is achieved number
According to duplicate protection, for the unmanned plane of varying number rotor, each motor has a control circuit；
3, on board the aircraft at the beginning of electricity during self-inspection, although substantially no-voltage electric current, still may be used by three detections
To judge phase of whether breaking, exclude hidden danger in time；
If 4, the data difference before the numerical value detected in running and MCU is relatively big, pre-alarm also continues detection,
If it is determined that be diagnosed as exception, fly the data that control feeds back according to device MCU, and sensing data, automatically perform forced landing journey
Sequence；
5, the precondition that aircraft emergency landing releases a parachute is: residing height reach parachuting require, each electricity
Machine stall, attitude are steady；
6, the data of collection are sent to ground control centre also by wireless data transmission module by MCU module, it is achieved
Real-time data sharing, altogether connection.
Accompanying drawing explanation
Fig. 1 is the structure principle chart of a kind of unmanned plane motor phase failure monitoring and protecting device of the present invention.
Fig. 2 is the workflow diagram of a kind of unmanned plane motor phase failure monitoring and protecting device of the present invention.
Wherein: 1-electricity mode transfer block, 2-brshless DC motor, 3-voltage sampling signal change-over circuit, 4-MCU module, 5-without
Man-machine flight control system, 6-parachute drive circuit, 7-parachute actuator, 8-alarm unit, 9-CAN bus, 10-wireless communication
Number transmitter module, 11-memory module.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with
Detailed description of the invention, is expanded on further the present invention.
Fig. 1 illustrates the open phase detection protection circuit schematic diagram of single motor in unmanned plane, including electricity mode transfer block 1, brushless
Direct current generator 2, voltage sampling signal change-over circuit 3, MCU module 4 and system for flight control computer 5, described electricity mode transfer block 1 is with brushless
Direct current generator 2 connects, and described voltage sampling signal change-over circuit 3 is connected between the circuit of electricity mediation brshless DC motor 2, electricity
Pressure sampled signal change-over circuit 3, MCU module 4 and system for flight control computer 5 are sequentially connected with, and system for flight control computer 5 is also associated with
Parachute drive circuit 6 and alarm unit 8, parachute drive circuit 6 connects parachute actuator 7, the core of the present invention
Part is voltage sampling signal change-over circuit 3 and MCU module, and during actual use, each motor has a control
Circuit processed, after MCU module obtains the parameter of each motor, it is possible to judges and processes abnormal signal, and perform corresponding action life
Order, such as forced landing.
It should be noted that described MCU module 4 is connected with system for flight control computer 5 by CAN 9, described MCU mould
Block 4 connects wireless signal transmitting module 10, and the data gathered are sent by MCU module 4 also by wireless data transmission module
To ground control centre, it is achieved real-time data sharing, altogether connection, described MCU module 4 is also associated with memory module 11, memory module
11 will record these data, and described alarm unit 8 includes voice guard and visual alarm.
In the present embodiment, what described voltage sampling signal change-over circuit 3 and electricity were in harmonious proportion between brshless DC motor 2 is each
Circuitry phase is all connected with.
As in figure 2 it is shown, the workflow of the present invention is:
(1) power on；
(2) system is initialized；
(3) self-check program is started；
(4) detection flies to control sensor the most normally, if normally, then judges that dynamical system is the most normal, if normal,
Normal operation mission program, if above-mentioned two steps are the most abnormal, then starts alarm module, and unmanned plane will be unable to unlock and starts and fly
OK；
(5) after starting flight, it is judged that dynamical system is the most normal, if normally, then performs normal mission program；If
Abnormal, then start alarm module, carry out pre-alarm, the most again judge that dynamical system is the most normal, if or abnormal,
Then be again started up alarm module, require when the height residing for unmanned plane reaches parachuting, each motor stalling, attitude steady time, open
Dynamic parachute drive circuit 6, parachute actuator 7 is opened, and releases a parachute, forced landing.
Based on above-mentioned, present invention have the advantage that whole device small volume and less weight, install to carry-on electricity tune output
Hold；High to the electric current of motor three-phase, voltage measurement accuracy, and can the motor status signal of direct output integrated, employing CAN
The mode of bus 9 and flight control system communication, the black box and the memory module 11 that fly control will record these data, it is achieved number
According to duplicate protection, for the unmanned plane of varying number rotor, each motor has a control circuit；Electricity on board the aircraft
During just self-inspection, although substantially no-voltage electric current, still may determine that, by three detections, phase of whether breaking, get rid of in time
Go out hidden danger；If the data difference before the numerical value detected in running and MCU is relatively big, pre-alarm also continues detection, if
Determine and be diagnosed as exception, fly the data that control feeds back according to device MCU, and sensing data, automatically perform forced landing program；
The precondition that aircraft emergency landing releases a parachute is: residing height reach parachuting require, each motor stalling, attitude
Steadily；The data of collection are sent to ground control centre also by wireless data transmission module by MCU module 4, it is achieved data
Real-Time Sharing, altogether connection.
As known by the technical knowledge, the present invention can be by other essence without departing from its spirit or the embodiment party of essential feature
Case realizes.Therefore, embodiment disclosed above, for each side, all it is merely illustrative, is not only.Institute
The change within the scope of the present invention or within being equal to the scope of the present invention is had all to be included in the invention.
Claims (6)
1. a unmanned plane motor phase failure monitoring and protecting device, it is characterised in that include electricity mode transfer block, brshless DC motor, electricity
Pressure sampled signal change-over circuit, MCU module and system for flight control computer, described electricity mode transfer block is connected with brshless DC motor, institute
State between the circuit that voltage sampling signal change-over circuit is connected to electricity mediation brshless DC motor, voltage sampling signal conversion electricity
Road, MCU module and system for flight control computer are sequentially connected with, and system for flight control computer is also associated with parachute drive circuit and warning
Unit, parachute drive circuit connects parachute actuator.
A kind of unmanned plane motor phase failure monitoring and protecting device the most according to claim 1, it is characterised in that: described MCU mould
Block is connected with system for flight control computer by CAN.
A kind of unmanned plane motor phase failure monitoring and protecting device the most according to claim 2, it is characterised in that: described MCU mould
Block connects wireless signal transmitting module.
A kind of unmanned plane motor phase failure monitoring and protecting device the most according to claim 1, it is characterised in that: described MCU mould
Block is also associated with memory module.
A kind of unmanned plane motor phase failure monitoring and protecting device the most according to claim 1, it is characterised in that: described list of reporting to the police
Unit includes voice guard and visual alarm.
A kind of unmanned plane motor phase failure monitoring and protecting device the most according to claim 1, it is characterised in that: described voltage takes
Each circuitry phase that sample signaling conversion circuit and electricity are in harmonious proportion between brshless DC motor is all connected with.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610574067.5A CN106227083A (en) | 2016-07-20 | 2016-07-20 | A kind of unmanned plane motor phase failure monitoring and protecting device |
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| CN201610574067.5A CN106227083A (en) | 2016-07-20 | 2016-07-20 | A kind of unmanned plane motor phase failure monitoring and protecting device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628215A (en) * | 2017-01-18 | 2017-05-10 | 广东容祺智能科技有限公司 | Alarming system for motor abnormity of unmanned aerial vehicle |
| CN107111320A (en) * | 2016-12-28 | 2017-08-29 | 深圳市大疆创新科技有限公司 | Unmanned plane and its control system are adjusted and its control method with control method, electricity |
| CN108267691A (en) * | 2018-01-04 | 2018-07-10 | 广东容祺智能科技有限公司 | A kind of on-line detecting system of unmanned plane brushless motor |
| CN109725584A (en) * | 2017-10-27 | 2019-05-07 | 中光电智能机器人股份有限公司 | Unmanned plane, unmanned aerial vehicle (UAV) control center and unmanned plane warning method |
| CN110316389A (en) * | 2019-07-03 | 2019-10-11 | 广西科技大学 | A kind of unmanned plane propeller protective device |
| CN113315421A (en) * | 2021-06-24 | 2021-08-27 | 中汽创智科技有限公司 | Redundant double-brushless motor control system and control method |
| CN114104270A (en) * | 2021-11-12 | 2022-03-01 | 中国商用飞机有限责任公司 | Flight control device control system and flight control device control method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107111320A (en) * | 2016-12-28 | 2017-08-29 | 深圳市大疆创新科技有限公司 | Unmanned plane and its control system are adjusted and its control method with control method, electricity |
| WO2018119767A1 (en) * | 2016-12-28 | 2018-07-05 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and control system and control method therefor, electronic speed controller and control method therefor |
| CN106628215A (en) * | 2017-01-18 | 2017-05-10 | 广东容祺智能科技有限公司 | Alarming system for motor abnormity of unmanned aerial vehicle |
| CN109725584A (en) * | 2017-10-27 | 2019-05-07 | 中光电智能机器人股份有限公司 | Unmanned plane, unmanned aerial vehicle (UAV) control center and unmanned plane warning method |
| CN108267691A (en) * | 2018-01-04 | 2018-07-10 | 广东容祺智能科技有限公司 | A kind of on-line detecting system of unmanned plane brushless motor |
| CN110316389A (en) * | 2019-07-03 | 2019-10-11 | 广西科技大学 | A kind of unmanned plane propeller protective device |
| CN110316389B (en) * | 2019-07-03 | 2022-08-19 | 广西科技大学 | Unmanned aerial vehicle screw protection device |
| CN113315421A (en) * | 2021-06-24 | 2021-08-27 | 中汽创智科技有限公司 | Redundant double-brushless motor control system and control method |
| CN113315421B (en) * | 2021-06-24 | 2023-12-26 | 中汽创智科技有限公司 | Redundant double brushless motor control system and control method |
| CN114104270A (en) * | 2021-11-12 | 2022-03-01 | 中国商用飞机有限责任公司 | Flight control device control system and flight control device control method |
| CN114104270B (en) * | 2021-11-12 | 2024-05-03 | 中国商用飞机有限责任公司 | Flight control device control system and flight control device control method |
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