CN107112933A - Electric machine control system and unmanned vehicle - Google Patents
Electric machine control system and unmanned vehicle Download PDFInfo
- Publication number
- CN107112933A CN107112933A CN201680004452.4A CN201680004452A CN107112933A CN 107112933 A CN107112933 A CN 107112933A CN 201680004452 A CN201680004452 A CN 201680004452A CN 107112933 A CN107112933 A CN 107112933A
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- CN
- China
- Prior art keywords
- motor
- speed regulator
- electron speed
- drive
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control; Arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
- B64U60/50—Undercarriages with landing legs
Abstract
A kind of electric machine control system (100), including the first electron speed regulator (31), the second electron speed regulator (32) and controller (40).First electron speed regulator (31) and second electron speed regulator (32) are electrically connected with a motor (222) respectively.First electron speed regulator (31) is respectively adopted different type of drive from second electron speed regulator (32) and drives the motor (222) to rotate.The controller (40) communicates to connect respectively with first electron speed regulator (31) and second electron speed regulator (32).Wherein, the controller (40) selects one of them in first electron speed regulator (31) and second electron speed regulator (32) as driver and drives the motor (222) to rotate, and select it is described one of them or another the rotary state of the motor (222) is monitored as monitor.The present invention also provides a kind of unmanned vehicle using the electric machine control system (100).
Description
Technical field
The present invention relates to motor control technology field, more particularly to a kind of electric machine control system and the use motor control system
The unmanned vehicle of system.
Background technology
Unmanned vehicle uses motor to drive propeller rotational to provide flying power.At present, a motor, for example directly
Brushless electric machine is flowed, is generally driven using Single Electron speed regulator, when electron speed regulator breaks down, then makes unmanned vehicle
The power of corresponding axle is directly lost, causes unmanned vehicle flight unstable, security incident, example may occur when serious
Such as unmanned vehicle is out of control to fall.
The content of the invention
In view of this, it is necessary to propose a kind of electric machine control system and the unmanned vehicle using the electric machine control system,
To solve the above problems.
A kind of electric machine control system, including the first electron speed regulator, the second electron speed regulator and controller.Described first
Electron speed regulator and second electron speed regulator are electrically connected with a motor respectively.First electron speed regulator and described the
Two electron speed regulators are respectively adopted different type of drive and drive the motor to rotate.The controller is adjusted with first electronics
Fast device and second electron speed regulator are communicated to connect respectively.Wherein, the controller selects first electron speed regulator
And one of them in second electron speed regulator drives the motor to rotate as driver, and wherein one described in selection
It is individual or another the rotary state of the motor is monitored as monitor.
A kind of unmanned vehicle, including fuselage and the dynamical system on the fuselage, the dynamical system bag
Propeller, motor and electric machine control system are included, the motor is connected with the propeller, for driving the propeller to turn
It is dynamic, to provide flying power to the unmanned vehicle.The electric machine control system includes the first electron speed regulator, the second electronics
Speed regulator and controller.First electron speed regulator and second electron speed regulator are electrically connected with a motor respectively.
First electron speed regulator is respectively adopted different type of drive from second electron speed regulator and drives the motor to rotate.
The controller is communicated to connect respectively with first electron speed regulator and second electron speed regulator.Wherein, the control
One of them in device selection first electron speed regulator processed and second electron speed regulator is used as driver driving institute
State motor rotation, and select it is described one of them or another the rotary state of the motor is monitored as monitor.
The electric machine control system of the present invention has done Redundancy Design by the quantity of the electron speed regulator to same motor, and
It is separate between electron speed regulator, and carry out motor by using different type of drive, so as to greatly improve nobody
The stability and security of the dynamical system of aircraft, and the unmanned vehicle reduced caused by dynamical system failure falls
Risk.
Brief description of the drawings
Fig. 1 is a kind of functional block diagram of electric machine control system provided in an embodiment of the present invention.
Fig. 2 is work of the electric machine control system of first embodiment of the invention offer when motor is in normal rotation state
Principle schematic.
Fig. 3 is work of the electric machine control system of second embodiment of the invention offer when motor is in normal rotation state
Principle schematic.
Fig. 4 is work of the electric machine control system of third embodiment of the invention offer when motor is in normal rotation state
Principle schematic.
Fig. 5 is work of the electric machine control system of fourth embodiment of the invention offer when motor is in anomalous rotation state
Principle schematic.
Fig. 6 is work of the electric machine control system of fifth embodiment of the invention offer when motor is in anomalous rotation state
Principle schematic.
Fig. 7 is work of the electric machine control system of sixth embodiment of the invention offer when motor is in anomalous rotation state
Principle schematic.
Fig. 8 is the functional block diagram of another electric machine control system provided in an embodiment of the present invention.
Fig. 9 is the functional block diagram of another electric machine control system provided in an embodiment of the present invention.
Figure 10 is a kind of structure chart of unmanned vehicle provided in an embodiment of the present invention.
Main element symbol description
Electric machine control system 100,101,102
First electron speed regulator 31
First control circuit plate 310
First driver 311
Sensor 312
Second electron speed regulator 32
Second control circuit plate 320
Second driver 321
Sensor 322
Controller 40
Control board 50
Unmanned vehicle 200
Fuselage 21
Dynamical system 22
Propeller 221
Motor 222
Battery 223
Following embodiment will further illustrate the present invention with reference to above-mentioned accompanying drawing.
Embodiment
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or can also have component placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.Term as used herein " vertical ", " level ", " left side ",
" right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Not
In the case of conflict, the feature in following embodiments and embodiment can be mutually combined.Based on the embodiment in the present invention, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to the present invention
The scope of protection.
Referring to Fig. 1, being the functional block diagram of the electric machine control system 100 of the embodiment of the present invention.The motor control system
System 100 is electrically connected with a motor 222, for driving the motor 222 to rotate and monitor the rotary state of the motor 222.
The electric machine control system 100 can together with the motor 222 be applied to it is various need to use in the electronic installation of motor 222,
Such as unmanned vehicle, robot.
In the present embodiment, the electric machine control system 100 at least includes the first electron speed regulator 31, the second electronic speed regulation
Device 32 and controller 40, wherein, first electron speed regulator 31 and second electron speed regulator 32 respectively with the electricity
Machine 222 is electrically connected, and different type of drive are respectively adopted drive the motors 222 to rotate.It is understood that the motor
Control system 100 may include more than two electron speed regulators, and different type of drive are respectively adopted in each electron speed regulator
The motor 222 is driven to rotate.
The controller 40 and first electron speed regulator 31 and second electron speed regulator 32 difference communication link
Connect.In one embodiment, the controller 40 selects first electron speed regulator 31 and second electron speed regulator
One of them in 32 is rotated as the driver driving motor 222, and selects one of electron speed regulator same
Shi Zuowei monitors monitor the rotary state of the motor 222, and the controller 40 also controls another electronic speed regulation simultaneously
Device break-off.
For example, as shown in Fig. 2 the controller 40 selects first electron speed regulator 31 to be driven as driver
The motor 222 is rotated, and selection first electron speed regulator 31 monitors turning for the motor 222 as monitor simultaneously
Dynamic state, the controller 40 also controls the break-off of the second electron speed regulator 32 simultaneously.
Optionally, in another embodiment, the controller 40 selects first electron speed regulator 31 and described
One of them in second electron speed regulator 32 is rotated as the driver driving motor 222, and selects another conduct
Monitor monitors the rotary state of the motor 222.
For example, as shown in Figure 3,4, the controller 40 selects first electron speed regulator 31 to be driven as driver
Move the motor 222 to rotate, and select second electron speed regulator 32 as the rotation shape of the monitor monitoring motor 222
State.
In the present embodiment, when the rotary state for monitoring the motor 222 occurs abnormal, the controller 40 is selected
Another in first electron speed regulator 31 and second electron speed regulator 32 drives institute as driver again
State motor 222.
It is understood that when the rotary state for monitoring the motor 222 occurs abnormal, the controller 40 can be with
After the motor 222 is driven again, the current electron speed regulator as driver of selection monitors institute as monitor simultaneously
The rotary state of motor 222 is stated, or the current electron speed regulator not as driver of selection monitors the electricity as monitor
The rotary state of machine 222.
For example, corresponding to Fig. 2-4, the controller 40 is in the case of the rotary state of the motor 222 is normal
First electron speed regulator 31 is selected as driver.When the rotary state for monitoring the motor 222 occurs abnormal, such as
Shown in Fig. 5-7, the controller 40 selects second electron speed regulator 32 as driver.Meanwhile, as shown in figure 5, described
Controller 40 can select rotary state of second electron speed regulator 32 simultaneously as the monitor monitoring motor 222,
Or, as shown in fig. 6-7, the controller 40 can select first electron speed regulator 31 as monitor and monitor the electricity
The rotary state of machine 222.
In the present embodiment, the motor 222 is brshless DC motor 222.The driving of the electron speed regulator of current main flow
Mode mainly has square wave type of drive and sine wave drive mode.Wherein, square wave type of drive uses six traditional step commutations
Mode, each commutation, the positive pole for having a winding connection control power supply, electric current flows into winding, and second winding is connected to negative
Pole, electric current flows out from the other end, and the 3rd winding can be in suspended state, for detecting whether the progress commutation next time.Turn
Square is that the interaction between the magnetic field and permanent magnet produced by stator coil is produced, and ideally, torque peak occurs
When the two magnetic field orthotropics, and most weak when two magnetic fields are parallel, in order to ensure rotation that motor is lasting, by fixed
The magnetic field that sub- winding is produced should constantly shift one's position, but so the angle in the two magnetic fields can be caused constantly to change, and cause to turn
Square is pulsed.
Sine wave drive mode gathers three-phase current and three-phase voltage in real time, utilizes Field orientable control (FOC) vector skill
Art, it is ensured that the angle of stator coil magnetic field and magnetic field of permanent magnet is 90 °, is always maintained at torque peak.And the mode modulated is
SVPWM ripples, three-phase is modulated simultaneously.Sine wave drive mode can substantially reduce the torque pulsation of motor, while significantly improving motor
Efficiency.
In the present embodiment, one of them in first electron speed regulator 31 and second electron speed regulator 32
The motor 222 is driven to rotate using sine wave drive mode, another drives the motor 222 using square wave type of drive
Rotate.It is understood that in other embodiments, first electron speed regulator 31 or second electron speed regulator 32 can
To drive the motor 222 to rotate using other type of drive.
In the present embodiment, the controller 40 is selected in 222 normal rotation of motor using sine wave drive side
The electron speed regulator of formula drives the motor 222 to rotate, and selection is adopted when the rotary state of the motor 222 occurs abnormal
The motor 222 is driven to rotate with the electron speed regulator of square wave type of drive.
Optionally, in other embodiments, the controller 40 can select to use in 222 normal rotation of motor
The electron speed regulator of square wave type of drive drives the motor 222 to rotate, and different in the rotary state generation of the motor 222
It can select to drive the motor 222 to rotate using the electron speed regulator of sine wave drive mode when often.
In the present embodiment, as Figure 8-9, first electron speed regulator 31 includes the first driver 311, described the
Two electron speed regulators 32 include the second driver 321, wherein, first driver 311 drives institute using the first type of drive
State motor 222 to rotate, second driver 321 drives the motor 222 to rotate using the second type of drive.
Wherein, first type of drive is the one of which in sine wave drive mode, square wave type of drive, and described
First type of drive is different from the type of drive that second electron speed regulator 32 is used.
Second type of drive is the one of which in sine wave drive mode, square wave type of drive, and described second
Type of drive is different from the type of drive that first electron speed regulator 31 is used.
In wherein a kind of embodiment, as shown in figure 8, electric machine control system 101 also includes control board 50, the control
Circuit board 50 processed is provided with electronic component, and first electron speed regulator 31 and second electron speed regulator 32 are set respectively
Be placed in the control board 50, the electronic component in the control board 50 include first driver 311 with
And second driver 321.Thus, first electron speed regulator 31 and second electron speed regulator 32 can be shared
Same control board 50, the sky shared by two electron speed regulators is used so as to save the electric machine control system 101
Between.
In wherein another embodiment, as shown in figure 9, first electron speed regulator 31 includes first control circuit plate
310, the first control circuit plate 310 is provided with the electronic component on electronic component, the first control circuit plate 310
Including first driver 311.Second electron speed regulator 32 includes second control circuit plate 320, second control
The electronic component that circuit board 320 is provided with electronic component, the second control circuit plate 320 includes the described second driving
Device 321.Thus, electric machine control system 102 includes first electron speed regulator 31 and second electron speed regulator 32
It can separate and be independently arranged, to change the electron speed regulator when electron speed regulator breaks down wherein.
In use, motor control signal is sent to the electron speed regulator used as driver by the controller 40, make
Corresponding motor is produced according to the motor control signal and corresponding type of drive for the electron speed regulator that driver is used
Drive signal drives the motor 222 to rotate.
Wherein, first electron speed regulator 31 passes through control signal wire and institute respectively with second electron speed regulator 32
State motor 222 to communicate to connect, the electron speed regulator used as driver is driven the motor by the control signal wire
Signal is sent to the motor 222.
In the first embodiment, the electron speed regulator used as monitor is only responsible for the reality of the monitoring motor 222
Running parameter, and determine by the controller 40 the actual rotation state of the motor 222 and judge the motor 222
Whether rotary state occurs exception.
Specifically, the electron speed regulator used as monitor obtains the real work parameter of the motor 222, and by institute
The real work parameter for stating motor 222 is sent to the controller 40.
The controller 40 determines the reality of the motor 222 according to the real work parameter of the motor 222 received
Border rotary state.
Wherein, the motor control signal includes motor rotational parameters, and the controller 40 is rotated always according to the motor
Parameter determines the expection rotary state of the motor 222, and the expection rotary state according to the motor 222 and the institute of determination
Whether the rotary state for stating motor 222 described in the actual rotation condition adjudgement of motor 222 occurs exception.
In the first embodiment, the controller 40 is when the rotary state for judging the motor 222 occurs abnormal
Another for selecting in first electron speed regulator 31 and second electron speed regulator 32 is driven again as driver
Move the motor 222.
In the first embodiment, the rotary state of the motor 222 at least including the motor 222 rotating speed and
Rotation direction.
In a second embodiment, the electron speed regulator used as monitor is responsible for monitoring the actual work of the motor 222
Make parameter and determine the actual rotation state of the motor 222, and judge by the controller 40 turning for the motor 222
Whether dynamic state occurs exception.
Specifically, the real work parameter of the electron speed regulator acquisition motor 222 used as monitor, and according to
The real work parameter of the motor 222 got determines the actual rotation state of the motor 222.Used as monitor
Electron speed regulator the actual rotation state of the motor 222 of determination is also sent to the controller 40.
Wherein, the motor control signal includes motor rotational parameters, and the controller 40 is rotated according to the motor joins
Number determines the expection rotary states of the motors 222, and expection rotary state according to the motor 222 and the institute that receives
Whether the rotary state for stating motor 222 described in the actual rotation condition adjudgement of motor 222 occurs exception.
In the second embodiment, the controller 40 is when the rotary state for judging the motor 222 occurs abnormal
Another for selecting in first electron speed regulator 31 and second electron speed regulator 32 is driven again as driver
Move the motor 222.
In the second embodiment, the rotary state of the motor 222 at least including the motor 222 rotating speed and
Rotation direction.
In the third embodiment, the electron speed regulator used as monitor is responsible for monitoring the actual work of the motor 222
It is different whether the rotary state for make parameter, determining the actual rotation state of the motor 222 and judge the motor 222 occurs
Often.
Specifically, the real work parameter of the electron speed regulator acquisition motor 222 used as monitor, and according to
The real work parameter of the motor 222 got determines the actual rotation state of the motor 222.
Wherein, the motor control signal includes motor rotational parameters, and the electron speed regulator used as monitor is also obtained
The motor rotational parameters are taken, and determine according to the motor rotational parameters expection rotary state of the motor 222, Yi Jigen
It is different according to whether the expection rotary state of the motor 222 and the rotary state of motor 222 described in actual rotation condition adjudgement occur
Often.
In the 3rd embodiment, the electron speed regulator used as monitor is judging the rotary state of motor 222
Generation also generates an abnormal signal when abnormal, and the abnormal signal is sent into the controller 40.
In the 3rd embodiment, the controller 40 selects first electronics when receiving the abnormal signal
Another in speed regulator 31 and second electron speed regulator 32 drives the motor 222 as driver again.
In the 3rd embodiment, rotating speed at least including the motor 222 of the rotary state of the motor 222 and
Rotation direction.
In the present embodiment, the controller 40 passes through communication line and first electron speed regulator 31 and described the
Two electron speed regulators 32 are communicated to connect respectively.
In wherein a kind of embodiment, as shown in Fig. 3,6, driver and prison are used as when an electron speed regulator is different
In the case of controlling device use, first electron speed regulator 31 is communicated to connect with second electron speed regulator 32, is used as driving
Communication line between electron speed regulator and the controller 40 that device is used is in effective status, the electricity used as monitor
Communication line between sub- speed regulator and the controller 40 is temporarily in disarmed state, and the controller 40 is by being used as driving
The electron speed regulator that device is used is communicated to connect with the electron speed regulator used as driver.
In this case, the electron speed regulator used as driver the motor rotational parameters can be sent to as
The electron speed regulator that monitor is used.The electron speed regulator used as monitor can be adjusted by the electronics used as driver
Fast device believes the actual rotation state or the exception of the real work parameter of the motor 222 or the motor 222
Number it is sent to the controller 40.
In wherein another embodiment, as shown in Fig. 4,7, when electron speed regulator is different as driver and
In the case of monitor use, the communication line between first electron speed regulator 31 and the controller 40, and it is described
Communication line between second electron speed regulator 32 and the controller 40 is simultaneously in effective status.
In this case, the motor rotational parameters can be transmitted directly to use as monitor by the controller 40
Electron speed regulator.The electron speed regulator used as monitor can be by the real work parameter of the motor 222 or described
The actual rotation state or the abnormal signal of motor 222 are transmitted directly to the controller 40.
In the present embodiment, the motor 222 is three phase electric machine, first electron speed regulator 31 and second electricity
Sub- speed regulator 32 is electrically connected by three-phase connecting line with the motor 222 respectively, and the electron speed regulator used as monitor leads to
Cross and sense the electric parameter in the three-phase connecting line to obtain the real work parameter of the motor 222.
Wherein, as shown in Fig. 8 or Fig. 9, first electron speed regulator 31 also includes sensor 312, second electronics
Speed regulator 32 also includes sensor 322, and the sensor 312,322 is used to sense the electric parameter in the three-phase connecting line.
Electric parameter in the three-phase connecting line includes at least one of following：Three-phase current size and direction, three-phase voltage are big
Small and direction, three-phase electromotive force size and direction.
The quantity that the electric machine control system 100,101,102 of the present invention passes through the electron speed regulator to same motor 222
Do separate between Redundancy Design, and electron speed regulator, and carried out motor 222 by using different type of drive,
So as to greatly improve the stability and security of the dynamical system of unmanned vehicle, and reduce because dynamical system failure is led
The risk that the unmanned vehicle of cause falls.
Referring to Fig. 10, the present invention also provides a kind of unmanned vehicle 200, the unmanned vehicle 200 at least includes machine
Body 21 and dynamical system 22 and flight control system (not shown) on the fuselage 21.Wherein, the dynamical system
System 22 at least includes propeller 221, motor 222, battery 223 and above-mentioned electric machine control system 100.The propeller 221
It is installed on the motor 222, and is connected with the motor 222.The motor 222 is used to drive the propeller 221 to rotate,
To provide flying power to the unmanned vehicle 200.The battery 223 is used to provide work to the unmanned vehicle 200
Power supply.
The electric machine control system 100 is used for the rotation shape for driving the motor 222 to run and monitor the motor 222
State.Specifically, the electric machine control system 100 is used for the velocity of rotation and rotation direction for adjusting the motor 222, to adjust
State the flying speed and flight attitude of unmanned vehicle 200.
The flight control system at least includes flight controller (not shown) and multiple sensor assembly (not shown).
The flight controller is used for the state of flight for controlling the unmanned vehicle 200, including flying speed, flight attitude etc..Its
In, the controller 40 that the flight controller and the flight control system include can be same electronic component, also may be used
For different electronic components.The sensor assembly is to can sense when measured information, and the information sensed is pressed
Certain rule is for conversion into the component of electric signal or the information output of other required forms.The sensor assembly may include but
It is not limited to, the Inertial Measurement Unit, compass, GPS sensor, range sensor etc..The Inertial Measurement Unit is used to examine
Survey the posture of the unmanned vehicle 200.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although reference
The present invention is described in detail for preferred embodiment, it will be understood by those within the art that, can be to the present invention's
Technical scheme is modified or equivalent substitution, without departing from the spirit and scope of technical solution of the present invention.
This patent document disclosure includes material protected by copyright.The copyright is all for copyright holder.Copyright
Owner does not oppose that anyone replicates the patent document in the presence of the proce's-verbal of Patent＆Trademark Office and archives or should
Patent is disclosed.
Claims (53)
1. a kind of electric machine control system, it is characterised in that including：
For the first electron speed regulator electrically connected with a motor；
For the second electron speed regulator electrically connected with the motor, first electron speed regulator and second electronic speed regulation
Device is respectively adopted different type of drive and drives the motor to rotate；And
The controller communicated to connect respectively with first electron speed regulator and second electron speed regulator；
Wherein, the controller selects one of work in first electron speed regulator and second electron speed regulator
Drive the motor to rotate for driver, and select it is described one of them or another as monitor monitor the motor
Rotary state.
2. electric machine control system as claimed in claim 1, it is characterised in that when the rotary state for monitoring the motor occurs
When abnormal, the controller selects another conduct in first electron speed regulator and second electron speed regulator
Driver drives the motor again.
3. electric machine control system as claimed in claim 2, it is characterised in that the motor is brshless DC motor, described the
One of them in one electron speed regulator and second electron speed regulator drives the motor using sine wave drive mode
Rotate, another drives the motor to rotate using square wave type of drive.
4. electric machine control system as claimed in claim 3, it is characterised in that the controller is in the motor normal rotation
Selection drives the motor to rotate using the electron speed regulator of sine wave drive mode, and is sent out in the rotary state of the motor
Selection drives the motor to rotate using the electron speed regulator of square wave type of drive when raw abnormal；
Or, the controller selects the electron speed regulator driving institute using square wave type of drive in the motor normal rotation
Motor rotation is stated, and selection uses the electronic speed regulation of sine wave drive mode when the rotary state of the motor occurs abnormal
Device drives the motor to rotate.
5. electric machine control system as claimed in claim 2, it is characterised in that first electron speed regulator includes the first driving
Device, second electron speed regulator includes the second driver, wherein, first driver drives institute using the first type of drive
Motor rotation is stated, second driver drives the motor to rotate using the second type of drive.
6. electric machine control system as claimed in claim 5, it is characterised in that first type of drive is sine wave drive side
One of which in formula, square wave type of drive, and first type of drive is different from what second electron speed regulator was used
Type of drive.
7. electric machine control system as claimed in claim 5, it is characterised in that second type of drive is sine wave drive side
One of which in formula, square wave type of drive, and second type of drive is different from what first electron speed regulator was used
Type of drive.
8. electric machine control system as claimed in claim 5, it is characterised in that the electric machine control system also includes control circuit
Plate, the control board is provided with electronic component, first electron speed regulator and second electron speed regulator point
It is not arranged in the control board, the electronic component includes first driver and second driver.
9. electric machine control system as claimed in claim 5, it is characterised in that first electron speed regulator includes the first control
Circuit board, the first control circuit plate is provided with the electronic component bag on electronic component, the first control circuit plate
Include first driver.
10. electric machine control system as claimed in claim 5, it is characterised in that second electron speed regulator includes the second control
Circuit board processed, the second control circuit plate is provided with the electronic component on electronic component, the second control circuit plate
Including second driver.
11. electric machine control system as claimed in claim 2, it is characterised in that the controller sends motor control signal
To the electron speed regulator used as driver, the electron speed regulator used as driver according to the motor control signal with
And corresponding type of drive produces corresponding motor drive signal to drive the motor to rotate.
12. electric machine control system as claimed in claim 11, it is characterised in that the electron speed regulator used as monitor is obtained
The real work parameter of the motor is taken, and the real work parameter of the motor is sent to the controller.
13. electric machine control system as claimed in claim 12, it is characterised in that the controller is according to the electricity received
The real work parameter of machine determines the actual rotation state of the motor；
The motor control signal includes motor rotational parameters, and the controller determines described always according to the motor rotational parameters
The expection rotary state of motor, and expection rotary state and the actual rotation shape of the motor determined according to the motor
State judges whether the rotary state of the motor occurs exception.
14. electric machine control system as claimed in claim 11, it is characterised in that the electron speed regulator used as monitor is obtained
The real work parameter of the motor is taken, and determines according to the real work parameter of the motor got the reality of the motor
Border rotary state.
15. electric machine control system as claimed in claim 14, it is characterised in that the electron speed regulator used as monitor is also
The actual rotation state of the motor of determination is sent to the controller；
The motor control signal includes motor rotational parameters, and the controller determines the electricity according to the motor rotational parameters
The expection rotary state of machine, and expection rotary state and the actual rotation shape of the motor received according to the motor
State judges whether the rotary state of the motor occurs exception.
16. the electric machine control system as described in claim 13 or 15, it is characterised in that the controller is judging the motor
Rotary state another in first electron speed regulator and second electron speed regulator is selected when occurring abnormal
Drive the motor again as driver.
17. electric machine control system as claimed in claim 14, it is characterised in that the motor control signal is rotated including motor
Parameter, the electron speed regulator used as monitor also obtains the motor rotational parameters, and according to the motor rotational parameters
Determine the expection rotary state of the motor, and the expection rotary state according to the motor and actual rotation condition adjudgement institute
Whether the rotary state for stating motor occurs exception.
18. electric machine control system as claimed in claim 17, it is characterised in that the electron speed regulator used as monitor exists
Judge also to generate an abnormal signal when rotary state of motor occurs abnormal, and the abnormal signal is sent to the control
Device；
The controller selects first electron speed regulator and second electronics to adjust when receiving the abnormal signal
Another in fast device drives the motor as driver again.
19. the electric machine control system as described in claim 12,15 or 18, it is characterised in that the controller passes through order wire
Road is communicated to connect respectively with first electron speed regulator and second electron speed regulator.
20. electric machine control system as claimed in claim 19, it is characterised in that first electron speed regulator and described second
Electron speed regulator is communicated to connect, and the communication line between the electron speed regulator and the controller that are used as driver, which is in, to be had
Effect state, the communication line between the electron speed regulator used as monitor and the controller is temporarily in disarmed state,
The controller is communicated to connect by the electron speed regulator that is used as driver and the electron speed regulator that is used as driver.
21. electric machine control system as claimed in claim 19, it is characterised in that first electron speed regulator and the control
Communication line between communication line between device, and second electron speed regulator and the controller is simultaneously in effective
State.
22. electric machine control system as claimed in claim 11, it is characterised in that first electron speed regulator and described second
Electron speed regulator is connected by control signal wire with its communications respectively, and the electron speed regulator used as driver passes through
The motor drive signal is sent to the motor by the control signal wire.
23. the electric machine control system as described in claim 13,14,15 or 17, it is characterised in that the rotary state of the motor
Rotating speed and rotation direction at least including the motor.
24. the electric machine control system as described in claim 12 or 14, it is characterised in that the motor is three phase electric machine, described
First electron speed regulator and second electron speed regulator are electrically connected by three-phase connecting line with the motor respectively, are used as prison
The electron speed regulator that uses of control device is by sensing the electric parameter in the three-phase connecting line to obtain the actual work of the motor
Make parameter.
25. electric machine control system as claimed in claim 24, it is characterised in that first electron speed regulator and described
Two electron speed regulators include sensor respectively, and the sensor is used to sense the electric parameter in the three-phase connecting line.
26. electric machine control system as claimed in claim 24, it is characterised in that the electric parameter bag in the three-phase connecting line
Include at least one of following：Three-phase current size and direction, three-phase voltage size and direction, three-phase electromotive force size and side
To.
27. a kind of unmanned vehicle, including fuselage and the dynamical system on the fuselage, the dynamical system bag
Include：
Propeller；
Motor, the motor is connected with the propeller, for driving the propeller rotational, to be carried to the unmanned vehicle
For flying power；And
Electric machine control system, it is characterised in that the electric machine control system includes：
For the first electron speed regulator electrically connected with the motor；
For the second electron speed regulator electrically connected with the motor, first electron speed regulator and second electronic speed regulation
Device is respectively adopted different type of drive and drives the motor to rotate；And
The controller communicated to connect respectively with first electron speed regulator and second electron speed regulator；
Wherein, the controller selects one of work in first electron speed regulator and second electron speed regulator
Drive the motor to rotate for driver, and select it is described one of them or another as monitor monitor the motor
Rotary state.
28. unmanned vehicle as claimed in claim 27, it is characterised in that when the rotary state for monitoring the motor occurs
When abnormal, the controller selects another conduct in first electron speed regulator and second electron speed regulator
Driver drives the motor again.
29. unmanned vehicle as claimed in claim 28, it is characterised in that the motor is brshless DC motor, described the
One of them in one electron speed regulator and second electron speed regulator drives the motor using sine wave drive mode
Rotate, another drives the motor to rotate using square wave type of drive.
30. unmanned vehicle as claimed in claim 29, it is characterised in that the controller is in the motor normal rotation
Selection drives the motor to rotate using the electron speed regulator of sine wave drive mode, and is sent out in the rotary state of the motor
Selection drives the motor to rotate using the electron speed regulator of square wave type of drive when raw abnormal；
Or, the controller selects the electron speed regulator driving institute using square wave type of drive in the motor normal rotation
Motor rotation is stated, and selection uses the electronic speed regulation of sine wave drive mode when the rotary state of the motor occurs abnormal
Device drives the motor to rotate.
31. unmanned vehicle as claimed in claim 27, it is characterised in that first electron speed regulator includes the first driving
Device, second electron speed regulator includes the second driver, wherein, first driver drives institute using the first type of drive
Motor rotation is stated, second driver drives the motor to rotate using the second type of drive.
32. unmanned vehicle as claimed in claim 31, it is characterised in that first type of drive is sine wave drive side
One of which in formula, square wave type of drive, and first type of drive is different from what second electron speed regulator was used
Type of drive.
33. unmanned vehicle as claimed in claim 31, it is characterised in that second type of drive is sine wave drive side
One of which in formula, square wave type of drive, and second type of drive is different from what first electron speed regulator was used
Type of drive.
34. unmanned vehicle as claimed in claim 31, it is characterised in that the electric machine control system also includes control circuit
Plate, the control board is provided with electronic component, first electron speed regulator and second electron speed regulator point
It is not arranged in the control board, the electronic component includes first driver and second driver.
35. unmanned vehicle as claimed in claim 31, it is characterised in that first electron speed regulator includes the first control
Circuit board, the first control circuit plate is provided with the electronic component bag on electronic component, the first control circuit plate
Include first driver.
36. unmanned vehicle as claimed in claim 31, it is characterised in that second electron speed regulator includes the second control
Circuit board, the second control circuit plate is provided with the electronic component bag on electronic component, the second control circuit plate
Include second driver.
37. unmanned vehicle as claimed in claim 27, it is characterised in that motor control signal is sent to by the controller
The electron speed regulator used as driver, the electron speed regulator used as driver according to the motor control signal and
Corresponding type of drive produces corresponding motor drive signal to drive the motor to rotate.
38. unmanned vehicle as claimed in claim 37, it is characterised in that the electron speed regulator used as monitor is obtained
The real work parameter of the motor, and the real work parameter of the motor is sent to the controller.
39. unmanned vehicle as claimed in claim 38, it is characterised in that the controller is according to the motor received
Real work parameter determine the actual rotation state of the motor；
The motor control signal includes motor rotational parameters, and the controller determines described always according to the motor rotational parameters
The expection rotary state of motor, and expection rotary state and the actual rotation shape of the motor determined according to the motor
State judges whether the rotary state of the motor occurs exception.
40. unmanned vehicle as claimed in claim 37, it is characterised in that the electron speed regulator used as monitor is obtained
The real work parameter of the motor, and determine according to the real work parameter of the motor got the reality of the motor
Rotary state.
41. unmanned vehicle as claimed in claim 40, it is characterised in that the electron speed regulator used as monitor will also
The actual rotation state of the motor determined is sent to the controller；
The motor control signal includes motor rotational parameters, and the controller determines the electricity according to the motor rotational parameters
The expection rotary state of machine, and expection rotary state and the actual rotation shape of the motor received according to the motor
State judges whether the rotary state of the motor occurs exception.
42. the unmanned vehicle as described in claim 39 or 41, it is characterised in that the controller is judging the motor
Rotary state selects another work in first electron speed regulator and second electron speed regulator when occurring abnormal
Drive the motor again for driver.
43. unmanned vehicle as claimed in claim 40, it is characterised in that the motor control signal includes motor and rotates ginseng
Number, the electron speed regulator used as monitor also obtains the motor rotational parameters, and true according to the motor rotational parameters
The expection rotary state of the fixed motor, and expection rotary state according to the motor with described in actual rotation condition adjudgement
Whether the rotary state of motor occurs exception.
44. unmanned vehicle as claimed in claim 43, it is characterised in that the electron speed regulator used as monitor is being sentenced
The rotary state of power machine also generates an abnormal signal when occurring abnormal, and the abnormal signal is sent into the controller；
The controller switches first electron speed regulator when receiving the abnormal signal and second electronics is adjusted
The working condition of fast device.
45. the unmanned vehicle as described in claim 38,41 or 44, it is characterised in that the controller passes through communication line
Communicated to connect respectively with first electron speed regulator and second electron speed regulator.
46. unmanned vehicle as claimed in claim 45, it is characterised in that first electron speed regulator and the described second electricity
Sub- speed regulator communication connection, the communication line between the electron speed regulator and the controller that are used as driver is in effective
State, the communication line between the electron speed regulator used as monitor and the controller is temporarily in disarmed state, institute
Electron speed regulator of the controller by the electron speed regulator that uses as driver with using as driver is stated to communicate to connect.
47. unmanned vehicle as claimed in claim 45, it is characterised in that first electron speed regulator and the controller
Between communication line, and communication line between second electron speed regulator and the controller is simultaneously in effective shape
State.
48. unmanned vehicle as claimed in claim 37, it is characterised in that first electron speed regulator and the described second electricity
Sub- speed regulator is connected by control signal wire with its communications respectively, and the electron speed regulator used as driver passes through institute
State control signal wire and the motor drive signal is sent to the motor.
49. the unmanned vehicle as described in claim 39,40,41 or 43, it is characterised in that the rotary state of the motor is extremely
Include the rotating speed and rotation direction of the motor less.
50. the unmanned vehicle as described in claim 38 or 40, it is characterised in that the motor is three phase electric machine, described the
One electron speed regulator and second electron speed regulator are electrically connected by three-phase connecting line with the motor respectively, are used as monitoring
The electron speed regulator that device is used senses the electric parameter in the three-phase connecting line to obtain the real work parameter of the motor.
51. unmanned vehicle as claimed in claim 50, it is characterised in that first electron speed regulator and described second
Electron speed regulator includes sensor respectively, and the sensor is used to sense the electric parameter in the three-phase connecting line.
52. unmanned vehicle as claimed in claim 50, it is characterised in that the electric parameter in the three-phase connecting line includes
It is at least one of following：Three-phase current size and direction, three-phase voltage size and direction, three-phase electromotive force size and direction.
53. unmanned vehicle as claimed in claim 27, it is characterised in that the controller is flight controller.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/099498 WO2018053693A1 (en) | 2016-09-20 | 2016-09-20 | Motor control system and unmanned aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107112933A true CN107112933A (en) | 2017-08-29 |
| CN107112933B CN107112933B (en) | 2019-03-05 |
Family
ID=59676470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680004452.4A Expired - Fee Related CN107112933B (en) | 2016-09-20 | 2016-09-20 | Electric machine control system and unmanned vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107112933B (en) |
| WO (1) | WO2018053693A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112947551A (en) * | 2021-02-01 | 2021-06-11 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle control system and method |
| WO2021223437A1 (en) * | 2020-05-06 | 2021-11-11 | 深圳市大疆创新科技有限公司 | Electronic speed control device and unmanned aerial vehicle |
| CN114625168A (en) * | 2022-03-24 | 2022-06-14 | 珠海市凯越科技有限公司 | Brushless motor driving method and device, storage medium and flight equipment |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2018053693A1 (en) | 2018-03-29 |
| CN107112933B (en) | 2019-03-05 |
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