CN107406146A - Control method, system, and power suit, the unmanned vehicle that electricity is adjusted and adjusted using the electricity - Google Patents
Control method, system, and power suit, the unmanned vehicle that electricity is adjusted and adjusted using the electricity Download PDFInfo
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- CN107406146A CN107406146A CN201680004303.8A CN201680004303A CN107406146A CN 107406146 A CN107406146 A CN 107406146A CN 201680004303 A CN201680004303 A CN 201680004303A CN 107406146 A CN107406146 A CN 107406146A
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- 230000005611 electricity Effects 0.000 title claims abstract description 188
- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000002159 abnormal effect Effects 0.000 claims description 15
- 230000029058 respiratory gaseous exchange Effects 0.000 claims description 13
- PLXMOAALOJOTIY-FPTXNFDTSA-N Aesculin Natural products OC[C@@H]1[C@@H](O)[C@H](O)[C@@H](O)[C@H](O)[C@H]1Oc2cc3C=CC(=O)Oc3cc2O PLXMOAALOJOTIY-FPTXNFDTSA-N 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000005856 abnormality Effects 0.000 claims description 2
- 230000001960 triggered effect Effects 0.000 abstract description 3
- 238000013461 design Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
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Classifications
-
- 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
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
-
- 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
-
- 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
- B64D47/00—Equipment not otherwise provided for
-
- 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
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
A kind of electricity adjusts (100) and its control method and control system, power suit and unmanned vehicle, the control method to include：Obtain motor (200) and/or electricity adjusts (100) status information of itself；(100) status information of itself is adjusted according to the motor (200) and/or electricity, control instruction device (300) represents that the motor (200) and/or electricity adjust (100) current state of itself；Above-mentioned control method, control system, electricity adjust electricity to adjust (100), unmanned vehicle to use instruction device (300) to characterize the state that electricity adjusts (100) and/or motor (200), more intuitively to learn that electricity adjusts (100) and the working condition of motor (200), reduce the flight failure triggered because of not knowing electricity to adjust the state of (100) and motor (200), more intuitively reflect the output state of dynamic structure by observing instruction device (300) simultaneously, situations such as helping the operation of analysis of aircraft.
Description
Technical field
The present invention relates to a kind of control method and system, control method, the system of more particularly to a kind of motor/electricity tune, with
And the power suit and unmanned vehicle adjusted using the electricity.
Background technology
Existing electricity on the market is adjusted (electron speed regulator, Electronic Speed Control) no indicator lamp or referred to
Show etc. to be only that simple decoration uses.First, because user or developer do not have the equipment of specialty in outfield flight, electronics is adjusted
It is difficult to judge to be in the case of fast device or motor abnormality, can for some reason hinder in flight and cause unnecessary loss.It is second, existing
Have awing can not intuitively experience the running status of the mechanical, electrical tune of electricity very much, it is difficult to power in-flight be made more directly perceived
Statement with evaluation etc..
The content of the invention
In consideration of it, the present invention is necessary to provide a kind of control method for the flight failure for effectively reducing unmanned vehicle.
A kind of control method, for controlling electricity tune and/or motor, it is characterised in that including：
Obtain motor and/or electricity adjusts the status information of itself；
The status information of itself is adjusted according to the motor and/or electricity, control instruction device represents that the motor and/or electricity are adjusted
The current state of itself.
On the other hand, a kind of control system is also provided based on above-mentioned control method, the present invention.
A kind of control system, for controlling electricity tune and/or motor, it is characterised in that including：
One or more controllers, individually or synergistically work, the controller is used for：
Obtain motor and/or electricity adjusts the status information of itself；
The status information of itself is adjusted according to the motor and/or electricity, control instruction device represents that the motor and/or electricity are adjusted
The current state of itself.
On the other hand, a kind of electricity is also provided and adjusted based on above-mentioned control method, the present invention.
A kind of electricity is adjusted, the working condition for controlled motor, it is characterised in that the electricity, which is stealthily substituted, to be included：
Housing；
Instruction device, installed in the housing；And
Controller, in the housing；The controller is used to be electrically connected with the motor and the instruction device
Connect；
Wherein, the status information that the controller is adjusted according to the motor and/or electricity, the instruction device for controlling the electricity to adjust
Represent that the motor and/or electricity adjust the current state of itself.
On the other hand, adjusted based on above-mentioned electricity, the present invention also provides a kind of unmanned vehicle.
A kind of power suit, it is characterised in that including：
Motor, for exporting power；And
Electricity is adjusted, and is electrically connected with the motor, for controlling the working condition of the motor；The electricity, which is stealthily substituted, to be included housing, refers to
Showing device and controller；The instruction device is arranged on the housing；The controller is arranged in the housing；It is described
Controller is used to electrically connect with the motor and the instruction device；
Wherein, the status information that the controller is adjusted according to the motor and/or electricity, the instruction device for controlling the electricity to adjust
Represent that the motor and/or electricity adjust the current state of itself.
On the other hand, a kind of unmanned vehicle is also provided based on above-mentioned control method, the present invention.
A kind of unmanned vehicle, is characterised by, including：
Fuselage；
Motor, for driving propeller rotational, to provide flying power；And
Electricity is adjusted, and is electrically connected with the motor, for controlling the working condition of the motor；The electricity, which is stealthily substituted, to be included housing, refers to
Showing device and controller；The instruction device is arranged on the housing；The controller is arranged in the housing；It is described
Controller is used to electrically connect with the motor and the instruction device；
Wherein, the status information that the controller is adjusted according to the motor and/or electricity, the instruction device for controlling the electricity to adjust
Represent that the motor and/or electricity adjust the current state of itself.
A kind of unmanned vehicle, is characterised by, including：
Fuselage；
Flight controller, installed in the fuselage；
Motor, for driving propeller rotational, to provide flying power；
Electricity is adjusted, and is electrically connected with the motor, for controlling the working condition of the motor；And
Instruction device, the current state adjusted for representing the motor and/or electricity；
Wherein, the flight controller with it is described electricity adjust and the instruction device electrically connect, the flight controller according to
The motor and/or the electric status information adjusted, the electric instruction device expression motor adjusted and/or electricity is controlled to adjust current
State.
Above-mentioned control method, control system, electric tune, unmanned vehicle characterize electric tune and/or motor using instruction device
State, in order to more intuitively learn that electricity adjusts the working condition with motor, reduce because not knowing that electricity adjusts the state with motor
And the flight failure triggered.
In addition, the output state for adjusting indicator lamp more intuitively to reflect dynamic structure by observing electricity, help is analyzed winged
Situations such as operation of machine.
Brief description of the drawings
Fig. 1 is the flow chart of the control method of embodiments of the present invention；
Fig. 2 is the schematic diagram that the motor of embodiments of the present invention is adjusted with electricity；
Fig. 3 is the schematic diagram of the control system of embodiments of the present invention；
Fig. 4 is the schematic diagram of the control system of another embodiment of the present invention；
Fig. 5 is the structural representation that the electricity of embodiments of the present invention is adjusted；
Fig. 6 is the circuit theory schematic diagram that the electricity of embodiments of the present invention is adjusted；
Fig. 7 is the schematic diagram of the unmanned vehicle of embodiments of the present invention.
Embodiment
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 describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or there may also be 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 ", " horizontal ", " 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.
Embodiments of the invention provide a kind of control method, for the status information of the element in being set with according to power, control
Instruction device processed represents the current state of the element in the power suit.
In wherein some embodiments, the power suit includes following at least one element：Motor, electricity are adjusted, propeller.
In wherein some embodiments, the instruction device includes following at least one：Indicator lamp, display screen, sound-producing device.
In wherein some embodiments, the instruction device can be set with following at least one apparatus integration：Electricity is adjusted, electricity
Machine, using the mobile platform of the motor, remote control.
In wherein some embodiments, the instruction device can be drawn by wire from following apparatus：Electricity is adjusted, motor,
Using the mobile platform of the motor, remote control.
In wherein some embodiments, the instruction device is controlled by following at least one device：The control system that electricity is adjusted, should
With the control system of the mobile platform of the motor, the control system of remote control.
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting
Feature in embodiment and embodiment can be mutually combined.
Fig. 1 and Fig. 2 is referred to, embodiments of the invention provide a kind of control method, for controlling electricity to adjust 100 and/or electricity
Machine 200.Methods described comprises the following steps：
S1, obtains motor 200 and/or electricity adjusts 100 status informations of itself.
Wherein, the electricity adjusts 100 status informations of itself to include following at least one：The electricity adjusts 100 power-up states, electricity
100 operation irregularities are adjusted, electricity adjusts 100 internal temperature, and motor 200 adjusts 100 internal preset parameter to mismatch with electricity, throttle input
Amount is abnormal, and electricity adjusts 100 link abnormal.
The status information of the motor 200 includes following at least one：The power-up state of motor 200, motor 200 is abnormal, electricity
Machine 200 is in running status, and motor 200 is in full power output state, the temperature of motor 200, the rotating speed of motor 200 and throttle
Value, the link of motor 200 are abnormal.
Step S2,100 status informations of itself are adjusted according to the motor 200 and/or electricity, control instruction device 300 represents
The motor 200 and/or electricity adjust 100 current states of itself.
Instruction device 300 is used to provide the user with obvious prompt message, to prompt the motor 200 and/or electricity to adjust 100
The current state of itself.The concrete structure of instruction device 300 can design according to real needs, illustrated below.
The instruction device 300 can be indicator lamp, and the luminous form of the indicator lamp is corresponding with the status information,
By controlling the luminous form of the indicator lamp, represent that the motor 200 and/or electricity adjust 100 current states of itself.
The luminous form of the indicator lamp includes following at least one：Glow color, luminance, luminosity.For example,
The luminance can be often bright with extinguishing, the speed of flash of light, the order of bright light, or glow frequency etc..The glow color
Can be red, yellow, blueness, or green etc..
Indicator lamp can be the emitting components such as LED, bulb.Specifically in the present embodiment, illustrated by taking LED as an example,
The indicator lamp can be monochromatic LED, or multi-colored led.
Indicator lamp can use different luminous forms, the state different for representing electric tune 100 or motor 200.For example,
In one of embodiment, the indicator lamp includes monochromatic or polychromatic light, represents that the electricity tune 100 or the link of motor 200 occur
Abnormal luminous form includes following at least one：Flashed using a certain color lamp in monochromatic burner or polychromatic light, monochromatic burner or
A certain color lamp breathing is lighted in polychromatic light, and polychromatic light is alternately flashed, and polychromatic light is alternately breathed and lighted, multiple or more in polychromatic light
Kind color lamp flashes simultaneously, and at least two color lamps breathe luminous simultaneously in polychromatic light, and monochromatic burner or polychromatic light length alternating are bright
It is or bright with different length.
In one of the embodiments, the indicator lamp includes monochromatic or polychromatic light, represents described without effective throttle signal
Luminous form include it is following at least one：A certain color lamp flashes in monochromatic burner or polychromatic light, in monochromatic burner or polychromatic light
A certain color lamp breathing is lighted, and polychromatic light is alternately flashed, and polychromatic light is alternately breathed and lighted, and at least two color lamps are same in polychromatic light
When flash, at least two color lamps breathe luminous simultaneously in polychromatic light, and monochromatic burner or polychromatic light length alternating are bright or with different length
Spend bright.
In one of the embodiments, the indicator lamp includes monochromatic or polychromatic light, represents the operation exception of motor 200
Luminous form include it is following at least one：A certain color lamp flashes in monochromatic burner or polychromatic light, certain in monochromatic burner or polychromatic light
The breathing of one color lamp is lighted, and polychromatic light alternately flashes, and polychromatic light is alternately breathed and lighted, and multiple in polychromatic light or multiple color lamp is same
When flash, at least two color lamps breathe luminous simultaneously in polychromatic light, and monochromatic burner or polychromatic light length alternating are bright or with different length
Spend bright.
In one of the embodiments, the indicator lamp includes monochromatic or polychromatic light, represents that the motor 200 or electricity are adjusted
The luminous form of 100 normal upper electricity includes following at least one：Monochromatic or polychromatic light Chang Liang, a certain face in monochromatic burner or polychromatic light
Colored lights flashes, and a certain color lamp breathes luminous in monochromatic burner or polychromatic light, and polychromatic light alternately flashes, and polychromatic light alternately breathes hair
Light, at least two color lamps flash simultaneously in polychromatic light, and at least two color lamps breathe luminous simultaneously in polychromatic light, monochromatic burner or
Polychromatic light length alternating is bright or bright with different length.
In one of the embodiments, the indicator lamp includes monochromatic or polychromatic light, represents that the motor 200 or electricity are adjusted
The luminous form of 100 temperature：The colour temperature of polychromatic light is presently in temperature to characterize.
In one of the embodiments, the indicator lamp includes monochromatic or polychromatic light, represents that the motor 200 is in fortune
The luminous form of row state includes following at least one：Often bright sign motor 200 is currently running one or more color lamps, polychrome
Lamp alternately flashes or alternately Chang Liang, a kind of normal breathing of or polychromatic light are luminous.
In one of the embodiments, the indicator lamp includes monochromatic or polychromatic light, represents the rotating speed of motor 200 and oil
The luminous form of gate value includes：The brightness of monochromatic burner or polychromatic light.
In one of the embodiments, the indicator lamp includes monochromatic or polychromatic light, represents that the motor 200 is in full work(
The luminous form of rate output state includes：Monochromatic or polychromatic light Chang Liang shows that polychromatic light alternately flashes or Chang Liang.
The instruction device 300 can also be sound-producing device, according to the motor 200 and/or it is described electricity adjust 100 itself
Status information, the sound-producing device is controlled to send the prompt tone of corresponding form, wherein, the form of the prompt tone and the state
Information is corresponding, for representing that the motor 200 and/or the electricity adjust 100 current states of itself.
The form of the prompt tone can be single frequency tone or multitone.For example, when generating means sends single frequency tone, it is described
The form of multitone can include following at least one：The number of single frequency tone, the length of single frequency tone.
The concrete structure of the sound-producing device can design according to different demands, in the present embodiment, with motor sounding
As being illustrated exemplified by sound-producing device.
The instruction device 300 can also display screen, by the display screen show the motor 200 and/or electricity adjust 100
The status information of itself, represent that the motor 200 and/or electricity adjust 100 current states of itself.For example, display screen can be utilized
Different icons is shown to represent that the motor 200 and/or electricity adjust 100 current states of itself, or, display screen can be utilized
Word content is directly displayed to represent that the motor 200 and/or electricity adjust 100 current states of itself.
Referring to Fig. 3, being based on above-mentioned control method, embodiments of the invention also provide a kind of control system.The control
System is used to control electricity to adjust 100 and/or motor 200.
The control system includes one or more controllers 400.One or more controllers 400 individually or collaboration
Ground works.The controller 400 is used for：Obtain motor 200 and/or electricity adjusts 100 status informations of itself；According to the motor
200 and/or electricity adjust 100 status informations of itself, control instruction device 300 represent the motor 200 and/or electricity adjust 100 itself
Current state.
Wherein, the electricity adjusts 100 status informations of itself to include following at least one：The electricity adjusts 100 power-up states, electricity
100 operation irregularities are adjusted, electricity adjusts 100 internal temperature, and motor 200 adjusts 100 internal preset parameter to mismatch with electricity, throttle input
Amount is abnormal, and electricity adjusts 100 link abnormal.
The status information of the motor 200 includes following at least one：The power-up state of motor 200, motor 200 is abnormal, electricity
Machine 200 is in running status, and motor 200 is in full power output state, the temperature of motor 200, the rotating speed of motor 200 and throttle
Value, the link of motor 200 are abnormal.
Instruction device 300 is used to provide the user with obvious prompt message, to prompt the motor 200 and/or electricity to adjust 100
The current state of itself.The concrete structure of instruction device 300 can design according to real needs, illustrated below.
The instruction device 300 can be indicator lamp, and the luminous form of the indicator lamp is corresponding with the status information,
By controlling the luminous form of the indicator lamp, represent that the motor 200 and/or electricity adjust 100 current states of itself.
The luminous form of the indicator lamp includes following at least one：Glow color, luminance, luminosity.For example,
The luminance can be often bright with extinguishing, the speed of flash of light, the order of bright light, or glow frequency etc..The glow color
Can be red, yellow, blueness, or green etc..
Indicator lamp can be the emitting components such as LED, bulb.Specifically in the present embodiment, illustrated by taking LED as an example,
The indicator lamp can be monochromatic LED, or multi-colored led.
Indicator lamp can use different luminous forms, the state different for representing electric tune 100 or motor 200.For example,
In one of embodiment, the indicator lamp includes monochromatic or polychromatic light, represents that the electricity tune 100 or the link of motor 200 occur
Abnormal luminous form includes following at least one：Flashed using a certain color lamp in monochromatic burner or polychromatic light, monochromatic burner or
A certain color lamp breathing is lighted in polychromatic light, and polychromatic light is alternately flashed, and polychromatic light is alternately breathed and lighted, multiple or more in polychromatic light
Kind color lamp flashes simultaneously, and at least two color lamps breathe luminous simultaneously in polychromatic light, and monochromatic burner or polychromatic light length alternating are bright
It is or bright with different length.
In one of the embodiments, the indicator lamp includes monochromatic or polychromatic light, represents described without effective throttle signal
Luminous form include it is following at least one：A certain color lamp flashes in monochromatic burner or polychromatic light, in monochromatic burner or polychromatic light
A certain color lamp breathing is lighted, and polychromatic light is alternately flashed, and polychromatic light is alternately breathed and lighted, and at least two color lamps are same in polychromatic light
When flash, at least two color lamps breathe luminous simultaneously in polychromatic light, and monochromatic burner or polychromatic light length alternating are bright or with different length
Spend bright.
In one of the embodiments, the indicator lamp includes monochromatic or polychromatic light, represents the operation exception of motor 200
Luminous form include it is following at least one：A certain color lamp flashes in monochromatic burner or polychromatic light, certain in monochromatic burner or polychromatic light
The breathing of one color lamp is lighted, and polychromatic light alternately flashes, and polychromatic light is alternately breathed and lighted, and multiple in polychromatic light or multiple color lamp is same
When flash, at least two color lamps breathe luminous simultaneously in polychromatic light, and monochromatic burner or polychromatic light length alternating are bright or with different length
Spend bright.
In one of the embodiments, the indicator lamp includes monochromatic or polychromatic light, represents that the motor 200 or electricity are adjusted
The luminous form of 100 normal upper electricity includes following at least one：Monochromatic or polychromatic light Chang Liang, a certain face in monochromatic burner or polychromatic light
Colored lights flashes, and a certain color lamp breathes luminous in monochromatic burner or polychromatic light, and polychromatic light alternately flashes, and polychromatic light alternately breathes hair
Light, at least two color lamps flash simultaneously in polychromatic light, and at least two color lamps breathe luminous simultaneously in polychromatic light, monochromatic burner or
Polychromatic light length alternating is bright or bright with different length.
In one of the embodiments, the indicator lamp includes monochromatic or polychromatic light, represents that the motor 200 or electricity are adjusted
The luminous form of 100 temperature：Using the colour temperature of polychromatic light temperature is presently in characterize.
In one of the embodiments, the indicator lamp includes monochromatic or polychromatic light, represents that the motor 200 is in fortune
The luminous form of row state includes following at least one：Often bright sign motor 200 is currently running one or more color lamps, polychrome
Lamp alternately flashes or alternately Chang Liang, a kind of normal breathing of or polychromatic light are luminous.
In one of the embodiments, the indicator lamp includes monochromatic or polychromatic light, represents the rotating speed of motor 200 and oil
The luminous form of gate value includes：The brightness of monochromatic burner or polychromatic light.
In one of the embodiments, the indicator lamp includes monochromatic or polychromatic light, represents that the motor 200 is in full work(
The luminous form of rate output state includes：Monochromatic or polychromatic light Chang Liang shows that polychromatic light alternately flashes or Chang Liang.
The instruction device 300 can also be sound-producing device, according to the motor 200 and/or it is described electricity adjust 100 itself
Status information, the sound-producing device is controlled to send the prompt tone of corresponding form, wherein, the form of the prompt tone and the state
Information is corresponding, for representing that the motor 200 and/or the electricity adjust 100 current states of itself.
The form of the prompt tone can be single frequency tone or multitone.For example, when generating means sends single frequency tone, it is described
The form of multitone can include following at least one：The number of single frequency tone, the length of single frequency tone.
The concrete structure of the sound-producing device can design according to different demands, in the present embodiment, with motor sounding
As being illustrated exemplified by sound-producing device.
The instruction device 300 can also display screen, by the display screen show the motor 200 and/or electricity adjust 100
The status information of itself, represent that the motor 200 and/or electricity adjust 100 current states of itself.For example, display screen can be utilized
Different icons is shown to represent that the motor 200 and/or electricity adjust 100 current states of itself, or, display screen can be utilized
Word content is directly displayed to represent that the motor 200 and/or electricity adjust 100 current states of itself.
The set location of the instruction device 300 can design according to different demands, for example, the instruction device 300
It can be located on motor 200, or electricity is adjusted on 100.Or the instruction device 300 can be arranged at using the motor 200,
Electricity is adjusted on 100 mobile platform, for example, adjusting 100 unmanned vehicle using the motor 200 or electricity, is remotely controlled battlebus, head.
Adjusted it should be noted that the controller 400 can be built in the electricity in 100, as shown in Figure 4.
It should be noted that said system, which may be directly applied to electricity, adjusts 100, control system of mobile platform etc..
It should be noted that instruction device 300 can be prompted with combinations such as indicator lamp, sound-producing device, display screens
Motor 200 and/or electricity adjust 100 working condition.As shown in following embodiments.
Embodiment：Combine reminding method
Fig. 5 and Fig. 6 is referred to, the control method based on above-described embodiment, embodiments of the invention also provide one kind and are used for
The electricity of the working condition of controlled motor 200 adjusts 100.The electricity tune 100 includes housing, instruction device 300 and controller 400.
Instruction device 300 is arranged on the housing.The specific mounting means of instruction device 300 can be according to different demands
To design, in one of the embodiments, instruction device 300 is arranged on the surface of the housing, for example, working as instruction device 300
For indicator lamp when, indicator lamp is directly against mounted in the surface of the housing.
In one of the embodiments, the housing is provided with installation window, and instruction device 300 is arranged on the peace of the housing
Fill in window.For example, when instruction device 300 is indicator lamp, indicator lamp is embedded in the installation window of the housing.
In one of the embodiments, the housing is provided with through hole, and instruction device 300 is arranged in the housing, and
Corresponding through hole is set.For example, when instruction device 300 is electronic buzzer, electronic buzzer is installed in the housing, and
The through hole of the corresponding housing is set, so that the electronic buzzer sends sound and passes through the through hole.
In one of the embodiments, the instruction device 300 is indicator lamp, in the housing, the housing
The position of the corresponding indicator lamp is transparent.
Controller 400 is arranged in the housing.The controller 400 is used for and the motor 200 and the instruction
Device 300 electrically connects.
Wherein, the controller 400 adjusts 100 status information according to the motor 200 and/or electricity, controls the electricity to adjust
100 instruction device 300 represents that the motor 200 and/or electricity adjust 100 current states of itself.
The specific control mode of the controller 400, as described in the control system of above-mentioned embodiment, will not be repeated here.
Referring to Fig. 7, adjusting 100 based on above-mentioned electricity, embodiments of the invention also provide a kind of power of application electricity tune 100
Suit.The power suit includes motor 200 and electricity adjusts 100.Motor 200 is used to export power.Electricity adjusts 100 and the electricity
Machine 200 electrically connects, for controlling the working condition of the motor 200.
The concrete structure of motor 200 can be the existing motor of in the market, or, it is special according to the electricity tune 100 of the present invention
Motor.The concrete structure of motor 200, which will not be described in detail herein, to be repeated.
Electricity adjusts 100 concrete structure, as described in being adjusted the electricity of above-mentioned embodiment, will not be described in detail herein and repeats.
Further, in addition to the propeller 500 on the motor 200.For example, the propeller 500 is formed
The a diameter of 540mm of oar disk, the rotating speed of the motor 200 is 130rpm/V.
The coefficient of impact of each element of power suit needs to be used cooperatively, using cause power that power is set with compared with
Greatly.The coefficient of impact for adjusting 100, motor 200, propeller 500 below in conjunction with whole power suit, electricity illustrates.
Embodiment：The coefficient of impact table of power suit
| Project | Coefficient |
| Maximum pull | 5100 grams/axle (50V, sea level) |
| Recommend battery | 12S LiPo |
| Recommend take-off weight | 1800-2500 grams/axle (sea level) |
| Use environment temperature | - 10 to 50 DEG C |
Embodiment：The coefficient of impact that electricity is adjusted
| Project | Coefficient |
| Maximum permissible voltage | 52.2V |
| Maximum allowed current (lasting) | 25A |
| Maximum allowable peak point current (3 seconds) | 40A |
| PWM incoming signal levels | It is 3.3V/5V compatible |
| Work pulsewidth | 1120-1920μs |
| Compatible signal frequency | 30-450Hz |
| Battery | 12S LiPo |
| Size | 85mm×44mm×18mm(±10) |
| Line length | 750±20mm |
| Weight (is free of line) | 55±10g |
Embodiment：The coefficient of impact of motor
| Project | Coefficient |
| Velocity constant | 130±10rpm/V |
| Back electromotive force constant | 0.0734±0.01V·s/rad |
| Mechanical time constant | 200±20ms |
| Rotor inertia | 529±20kg·cm2 |
| The total inertia of rotor (contains oar) | 1029±100kg·cm2 |
| Torque coefficient | 0.0760±0.01N·m/A |
| Line inductance | 0.224±0.01mH |
| Line resistance | 230±10mΩ |
| Thermal time constant | 600±20s |
Embodiment：The coefficient of impact of propeller
Referring to Fig. 7, being set with based on above-mentioned power, embodiments of the invention also provide a kind of nothing of application power suit
People's aircraft.The unmanned vehicle includes fuselage 600, motor 200 and electricity and adjusts 100.
The concrete structure of fuselage 600 can design according to different demands, for example, fuselage 600 can be fixed horn
Fuselage 600, fold the fuselage 600, the fuselage 600 of Quick Release horn etc. of horn.
Motor 200 is used to drive propeller 500 to rotate, to provide flying power.The concrete structure of motor 200 is real as described above
Apply described in example, in this not go into detail.
Electricity adjusts 100 to be electrically connected with the motor 200, for controlling the working condition of the motor 200.Electricity adjusts 100 tool
Body structure, as described in the electricity of above-mentioned embodiment adjusts 100, it will not be described in detail herein and repeat.
It should be noted that instruction device 300 is not limited to adjust on 100 located at electricity, fuselage 600 or motor can also be located at
On 200.In addition, instruction device 300 is not limited to adjust 100 controls by electricity, can also be controlled by other controllers.
For example, in one of the embodiments, the unmanned vehicle include fuselage 600, flight controller, motor 200,
And electricity adjusts 100.Flight controller, installed in the fuselage 600.Motor 200, for driving propeller 500 to rotate, to provide
Flying power.Electricity adjusts 100, is electrically connected with the motor 200, for controlling the working condition of the motor 200.Instruction device
300, for representing the current state of the motor 200 and/or electricity tune 100.Wherein, the flight controller is adjusted with the electricity
100 and the instruction device 300 electrically connect, the flight controller according to the motor 200 and/or electricity adjust 100 state believe
Cease, control the instruction device 300 of the electricity tune 100 to represent the current state of the motor 200 and/or electricity tune 100.
Above-mentioned control method, control system, electric tune, unmanned vehicle characterize electric tune and/or motor using instruction device
State, in order to more intuitively learn that electricity adjusts the working condition with motor, reduce because not knowing that electricity adjusts the state with motor
And the flight failure triggered.
In addition, the output state for adjusting indicator lamp more intuitively to reflect dynamic structure by observing electricity, help is analyzed winged
Situations such as operation of machine.
In several embodiments provided by the present invention, it should be understood that disclosed relevant apparatus and method, Ke Yitong
Other modes are crossed to realize.For example, device embodiment described above is only schematical, for example, the module or list
The division of member, only a kind of division of logic function can have an other dividing mode when actually realizing, for example, multiple units or
Component can combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, show
Show or the mutual coupling discussed or direct-coupling or communication connection can be by some interfaces, between device or unit
Coupling or communication connection are connect, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part to be contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are causing computer to control
Device 400 (processor) performs all or part of step of each embodiment methods described of the present invention.And foregoing storage medium
Including：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc. are various can be with the medium of store program codes.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (30)
- A kind of 1. control method, for controlling electricity tune and/or motor, it is characterised in that including：Obtain motor and/or electricity adjusts the status information of itself；The status information of itself is adjusted according to the motor and/or electricity, control instruction device represents that the motor and/or electricity adjust itself Current state.
- 2. control method according to claim 1, it is characterised in that the instruction device includes indicator lamp, the instruction The luminous form of lamp is corresponding with the status information, by controlling the luminous form of the indicator lamp, represent the motor or/ And electricity adjusts the current state of itself.
- 3. control method according to claim 2, it is characterised in that the luminous form of the indicator lamp is included as follows at least It is a kind of：Glow color, luminance, luminosity.
- 4. control method according to claim 3, it is characterised in that the luminance includes following at least one：Often Bright and extinguishing, the speed of flash of light, the order of bright light, glow frequency.
- 5. control method according to claim 3, it is characterised in that the glow color includes following at least one：It is red Color, yellow, green, blueness.
- 6. control method according to claim 2, it is characterised in that the indicator lamp includes monochromatic or polychromatic light, represents The electricity is adjusted or motor link abnormal luminous form occurs including following at least one：Using a certain in monochromatic burner or polychromatic light Kind color lamp flashes, and a certain color lamp breathing is luminous in monochromatic burner or polychromatic light, and polychromatic light alternately flicker, polychromatic light alternating breathes Luminous, multiple in polychromatic light or multiple color lamp flashes simultaneously, and at least two color lamps breathe luminous simultaneously in polychromatic light, monochromatic Lamp or polychromatic light length alternating are bright or bright with different length.
- 7. control method according to claim 2, it is characterised in that the indicator lamp includes monochromatic or polychromatic light, represents The luminous form without effective throttle signal includes following at least one：A certain color lamp dodges in monochromatic burner or polychromatic light Bright, a certain color lamp breathing is luminous in monochromatic burner or polychromatic light, and polychromatic light alternately flashes, and polychromatic light alternately breathes luminous, polychrome At least two color lamps flash simultaneously in lamp, and at least two color lamps breathe luminous, monochromatic burner or polychromatic light simultaneously in polychromatic light Length alternating is bright or bright with different length.
- 8. control method according to claim 2, it is characterised in that the indicator lamp includes monochromatic or polychromatic light, represents The abnormal luminous form of the motor operation includes following at least one：A certain color lamp flicker, single in monochromatic burner or polychromatic light A certain color lamp breathing is lighted in colored lights or polychromatic light, and polychromatic light is alternately flashed, and polychromatic light is alternately breathed and lighted, more in polychromatic light Individual or multiple color lamp flashes simultaneously, and at least two color lamps breathe luminous, monochromatic burner or polychromatic light length simultaneously in polychromatic light It is alternately bright or bright with different length.
- 9. control method according to claim 2, it is characterised in that the indicator lamp includes monochromatic or polychromatic light, represents The motor or electricity levelling Chang Shang electricity luminous form include following at least one：Monochromatic or polychromatic light Chang Liang, monochromatic burner or more A certain color lamp flashes in colored lights, and a certain color lamp breathing is luminous in monochromatic burner or polychromatic light, and polychromatic light alternately flashes, polychromatic light Alternately breathe and light, at least two color lamps flash simultaneously in polychromatic light, and at least two color lamps breathe hair simultaneously in polychromatic light Light, monochromatic burner or polychromatic light length alternating are bright or bright with different length.
- 10. control method according to claim 2, it is characterised in that the indicator lamp includes monochromatic or polychromatic light, represents The luminous form for the temperature that the motor or electricity are adjusted：The colour temperature of polychromatic light is presently in temperature to characterize.
- 11. control method according to claim 2, it is characterised in that the indicator lamp includes monochromatic or polychromatic light, represents The luminous form that the motor is in running status includes following at least one：The normal bright sign motor of one or more color lamps It is currently running, polychromatic light alternately flashes or alternately Chang Liang, a kind of normal breathing of or polychromatic light are luminous.
- 12. control method according to claim 2, it is characterised in that the indicator lamp includes monochromatic or polychromatic light, represents The motor speed and the luminous form of throttle value include：The brightness of monochromatic burner or polychromatic light.
- 13. control method according to claim 2, it is characterised in that the indicator lamp includes monochromatic or polychromatic light, represents The luminous form that the motor is in full power output state includes：Monochromatic or polychromatic light Chang Liang shows, polychromatic light alternately flicker or Chang Liang.
- 14. control method according to claim 1, it is characterised in that the instruction device includes sound-producing device, according to institute State motor and/or the electricity adjusts the status information of itself, control the sound-producing device to send the prompt tone of corresponding form, wherein, The form of the prompt tone is corresponding with the status information, for representing that the motor and/or the electricity adjust the current of itself State.
- 15. control method according to claim 14, it is characterised in that the form of the prompt tone includes following at least one Kind：Single frequency tone, multitone.
- 16. control method according to claim 15, it is characterised in that the form of the multitone includes following at least one Kind：The number of single frequency tone, the length of single frequency tone.
- 17. control method according to claim 14, it is characterised in that the sound-producing device electronic type buzzer or electricity Machine.
- 18. control method according to claim 1, it is characterised in that the instruction device includes display screen, by described Display screen shows that the motor and/or electricity adjust the status information of itself, represents that the motor and/or electricity adjust the current shape of itself State.
- 19. control method according to claim 1, it is characterised in that the electricity adjusts the status information of itself to include：It is described Electricity adjusts power-up state, and electricity adjusts operation irregularity, the internal temperature that electricity is adjusted, and motor mismatches with the internal preset parameter that electricity is adjusted, throttle Input quantity is abnormal, and the link that electricity is adjusted is abnormal.
- 20. control method according to claim 1, it is characterised in that the status information of the motor is included as follows at least It is a kind of：Motor power-up state, motor abnormality, motor are in running status, and motor is in full power output state, the temperature of motor Degree, motor speed and throttle value, the link of motor are abnormal.
- A kind of 21. control system, for controlling electricity tune and/or motor, it is characterised in that including：One or more controllers, individually or synergistically work, the controller is used for：Obtain motor and/or electricity adjusts the status information of itself；The status information of itself is adjusted according to the motor and/or electricity, control instruction device represents that the motor and/or electricity adjust itself Current state.
- 22. control system according to claim 21, it is characterised in that the following at least one position of instruction device installation Put：The motor, the electricity is adjusted, using the mobile platform of the motor.
- 23. control system according to claim 21, it is characterised in that the control system is adjusted in electricity or application should The mobile platform of motor.
- 24. a kind of electricity is adjusted, the working condition for controlled motor, it is characterised in that the electricity, which is stealthily substituted, to be included：Housing；Instruction device, installed in the housing；AndController, in the housing；The controller is used to electrically connect with the motor and the instruction device；Wherein, the status information that the controller is adjusted according to the motor and/or electricity, the instruction device for controlling the electricity to adjust represent The motor and/or electricity adjust the current state of itself.
- A kind of 25. power suit, it is characterised in that including：Motor, for exporting power；AndElectricity is adjusted, and is electrically connected with the motor, for controlling the working condition of the motor；The electricity, which is stealthily substituted, includes housing, instruction dress Put and controller；The instruction device is arranged on the housing；The controller is arranged in the housing；The control Device is used to electrically connect with the motor and the instruction device；Wherein, the status information that the controller is adjusted according to the motor and/or electricity, the instruction device for controlling the electricity to adjust represent The motor and/or electricity adjust the current state of itself.
- 26. power suit according to claim 25, it is characterised in that also include the spiral being arranged on the motor Oar.
- 27. power according to claim 26 suit, it is characterised in that the propeller shape into oar disk it is a diameter of 540mm, the rotating speed of the motor is 130rpm/V.
- 28. power suit according to claim 26, it is characterised in that the maximum pull of the power suit is 5100 Gram/axle.
- 29. a kind of unmanned vehicle, is characterised by, including：Fuselage；Motor, for driving propeller rotational, to provide flying power；AndElectricity is adjusted, and is electrically connected with the motor, for controlling the working condition of the motor；The electricity, which is stealthily substituted, includes housing, instruction dress Put and controller；The instruction device is arranged on the housing；The controller is arranged in the housing；The control Device is used to electrically connect with the motor and the instruction device；Wherein, the status information that the controller is adjusted according to the motor and/or electricity, the instruction device for controlling the electricity to adjust represent The motor and/or electricity adjust the current state of itself.
- 30. a kind of unmanned vehicle, is characterised by, including：Fuselage；Flight controller, installed in the fuselage；Motor, for driving propeller rotational, to provide flying power；Electricity is adjusted, and is electrically connected with the motor, for controlling the working condition of the motor；AndInstruction device, the current state adjusted for representing the motor and/or electricity；Wherein, the flight controller is adjusted with the electricity and the instruction device electrically connects, and the flight controller is according to The status information that motor and/or electricity are adjusted, the instruction device for controlling the electricity to adjust represent the current shape that the motor and/or electricity are adjusted State.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/073198 WO2017132833A1 (en) | 2016-02-02 | 2016-02-02 | Control method, system, electronic speed control and power assembly adopting the same, and unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107406146A true CN107406146A (en) | 2017-11-28 |
Family
ID=59500383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680004303.8A Pending CN107406146A (en) | 2016-02-02 | 2016-02-02 | Control method, system, and power suit, the unmanned vehicle that electricity is adjusted and adjusted using the electricity |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107406146A (en) |
| WO (1) | WO2017132833A1 (en) |
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| WO2019222966A1 (en) * | 2018-05-24 | 2019-11-28 | 深圳市大疆创新科技有限公司 | Gimbal control method and apparatus |
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| CN111655434A (en) * | 2019-06-12 | 2020-09-11 | 上海非夕机器人科技有限公司 | Robot and industrial robot with light device for indicating actuator status |
| CN113353269A (en) * | 2021-07-26 | 2021-09-07 | 惠州市翼飞智能科技有限公司 | Unmanned aerial vehicle |
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| CN116107793B (en) * | 2023-04-03 | 2023-07-14 | 深圳市好盈科技股份有限公司 | Unmanned aerial vehicle power system fault storage method and device |
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Also Published As
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| WO2017132833A1 (en) | 2017-08-10 |
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