CN108255188A - A kind of vector suitable for unmanned plane promotes accelerator and method - Google Patents
A kind of vector suitable for unmanned plane promotes accelerator and method Download PDFInfo
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- CN108255188A CN108255188A CN201810037106.7A CN201810037106A CN108255188A CN 108255188 A CN108255188 A CN 108255188A CN 201810037106 A CN201810037106 A CN 201810037106A CN 108255188 A CN108255188 A CN 108255188A
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- motor
- unmanned plane
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- main support
- control unit
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- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- 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
Abstract
The invention discloses a kind of vectors suitable for unmanned plane to promote accelerator and method, including two-freedom rotatable platform, the two-freedom rotatable platform includes main support and tilt mount, engine is mounted on tilt mount, the tilt mount is equipped with rotation axis, the main support side sets main support through-hole, the main support opposite side sets motor slot, the rotation axis left end is rotationally connected in the main support through-hole, and tilt mount can be rotated freely around the rotation axis with respect to main support.The unmanned plane vector promotes accelerator that can be used as autonomous system, the flying speed of unmanned plane can be significantly improved, it can be simply installed on unmanned plane by flexible stud connector design, vectored thrust is provided for unmanned plane, does not need to change to being adapted the original dynamical system of unmanned plane, original aerodynamic arrangement and original structure design etc..
Description
Technical field
The present invention relates to aircraft retrofit technology field, specially a kind of vector suitable for unmanned plane, which promotes, accelerates dress
It puts and method.
Background technology
Unmanned plane full name UAV is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft, common form include more rotors, fixed-wing, rotor and are combined etc. three kinds with fixed-wing.Existing unmanned plane
Flying speed is slow, and in order to improve unmanned plane during flying speed, but the prior art can not but reequip unmanned plane, this is because
Unmanned plane repacking is included：Dynamical system is replaced, improves engine output；Change UAV aerodynamic layout to set
Meter reduces unmanned plane resistance；UAV Components are changed to light material component, reduce unmanned plane quality etc. or above-mentioned
The comprehensive of repacking approach uses.Due to a unmanned plane inherently extremely complex system, pneumatically with promoting, structure and material
Material, dynamic and control must fully consider that the prior art can not be reequiped reasonably in master-plan.This is because
For traditional technology, approach is reequiped to unmanned plane, it is often more complicated, it is even further directed to repairing to flight control system
Change, the prior art can not provide vectored thrust for unmanned plane, and be unable to control the thrust size and Orientation of engine on platform.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of vectors suitable for unmanned plane to promote accelerator and side
Method.
Described device can be conveniently installed on unmanned plane by flexible stud connector design, it is attached to provide stabilising direction
Add thrust, so as to effectively improve the flying speed of unmanned plane.
In order to solve the above technical problems, the present invention provides following technical scheme：A kind of vector suitable for unmanned plane promotes
Accelerator, including two-freedom rotatable platform, the two-freedom rotatable platform includes main support and tilt mount, engine
On tilt mount, the tilt mount is equipped with rotation axis, and the main support side sets main support through-hole, the master
Stent opposite side sets motor slot, and the rotation axis left end is rotationally connected in the main support through-hole, and tilt mount can be around institute
Rotation axis is stated to rotate freely with respect to main support；
The bearing for reducing frictional resistance between main support through-hole and rotation axis is equipped in the main support through-hole, it is described
Bearing inner surface is matched with the rotation axis outer surface；
The two-freedom rotatable platform carries motor I and motor II, the main body of the motor II are fixed on the main branch
On the motor slot of frame, the right end of rotation axis described in the motor axis connection of the motor II, the motor II passes through described turn
Moving axis drives the tilt mount rotation；
The main body of the motor I is fixed on mounting bracket, at the top of main support described in the motor axis connection of the motor I, institute
Stating motor I drives the main support to rotate.
Further, in above-mentioned technical proposal, the mounting bracket is internally provided with Control card；Around the Control card by
Vibration-absorptive material wraps up, and the engine, the motor I and the motor II are electrically connected respectively with the Control card.
Further, in above-mentioned technical proposal, setting micro-control unit, attitude angle element in the Control card
MPU and remote controller signal receiver；
For the micro-control unit handled attitude data in attitude angle element MPU, controlled using feedback
System sends instructions to the motor II, automatic to eliminate the platform pitch angle variation caused by unmanned plane pitching movement, i.e., always
It is zero to keep platform pitch angle, and the motor power is made to keep in the horizontal direction；
The control instruction signal transmission that the remote controller signal receiver reception user is sent out by remote controler is to microcontroller
Unit.
Further, in above-mentioned technical proposal, the mounting bracket both ends set mounting bracket through-hole, the mounting bracket through-hole with
Device is fixed on unmanned plane surface by screw or bolted on connection method.
A kind of vector suitable for unmanned plane promotes accelerated method, promotes and adds including the vector suitable for unmanned plane
Speed variator, it is further comprising the steps of：
S11：Accelerator is promoted to be removably connected to quadrotor unmanned plane the vector for being suitable for unmanned plane described in one
Geometric center position or will described in two suitable for unmanned plane vector promote accelerator symmetrically be removably connected to
On two wings of fixed-wing unmanned plane；
S12：Control instruction signal is sent out by remote controler, the control instruction signal includes thrust direction signal and thrust
High low signal；
S13：The control instruction signal transmission that the remote controller signal receiver reception remote controler is sent out is to microcontroller
Unit, the rotation of micro-control unit controls motor I, motor II or engine；
S14：When the state of flight of unmanned plane changes, S2 steps are repeated, until reaching the state of flight of needs.
Further, in above-mentioned technical proposal, the S13 steps include S13a or S13b steps：
S13a：After thrust direction signal controls the motor power direction, micro-control unit to handle thrust direction signal,
The micro-control unit controls motor I, and the motor I drives tilt mount rotation, adjusts the motor power
Vertical direction；
S13a：After thrust direction signal controls the motor power direction, micro-control unit to handle thrust direction signal,
The micro-control unit controls motor II, and the motor II drives main support rotation, adjusts the motor power
Horizontal direction；
S13b:Thrust high low signal controls the size of the motor power, micro-control unit processing thrust high low signal
Afterwards, the rotating speed of the engine is controlled, controls the motor power size.
A kind of vector suitable for unmanned plane promotes accelerated method, promotes and adds including the vector suitable for unmanned plane
Speed variator, it is further comprising the steps of：
S21：Accelerator is promoted to be removably connected to quadrotor unmanned plane the vector for being suitable for unmanned plane described in one
Geometric center position；
S22：Attitude angle element MPU detects pitching angle signal；
S23：Pitch angle signal transmission is to micro-control unit；
S24：The rotation of micro-control unit controls motor I, motor II or engine；
S25：When the state of flight of unmanned plane changes, S2 steps are repeated, until reaching the state of flight of needs.
Further, in above-mentioned technical proposal, the S24 steps include S24a or S24b steps：
S24a：Motor power direction described in micro-control unit controls, the micro-control unit is according to pitching angle signal pair
Motor I is controlled, and the motor I drives tilt mount rotation, adjusts the direction of the motor power；
S24b:The size of motor power described in micro-control unit controls controls the rotating speed of the engine, control
Make the motor power size.
Compared with the prior art, the invention has the advantages that：
(1) the unmanned plane vector promotes accelerator that can be used as autonomous system, can significantly improve the flight of unmanned plane
Speed, can be simply installed on unmanned plane by flexible stud connector design, and vectored thrust is provided for unmanned plane, not needed to pair
The original dynamical system of unmanned plane, original aerodynamic arrangement and original structure design etc. is adapted to change.
(2) the unmanned plane vector promotes accelerator to include independent Control card, is furnished with control in the Control card
Device unit and Attitude Measuring Unit processed；The flight Control card is used for the thrust size and Orientation of engine in control platform,
Without to unmanned plane, original flight control system is modified.
Description of the drawings
Fig. 1 is the vector propulsion accelerator structure diagram for being suitable for unmanned plane described in the embodiment of the present invention 1.
Fig. 2 is main support side structure schematic view described in the embodiment of the present invention 1；
Fig. 3 is ducted fan described in the embodiment of the present invention 1 and tilt mount side structure schematic view.
Fig. 4 is the vector propulsion accelerated method using renderings for being suitable for unmanned plane described in the embodiment of the present invention 2.
Fig. 5 is the vector propulsion accelerated method using renderings for being suitable for unmanned plane described in the embodiment of the present invention 3.
Wherein, 1 main support, 2 tilt mounts, 3 motors I, 4 motors II, 5 ducted fans, 6 Control cards, 7 mounting brackets, 8 subtract
Blanket, 9 bearings, 10 main support through-holes, 11 mounting bracket through-holes, 12 rotation axis, 13 motor slots, 14 quadrotor unmanned planes, 15 are consolidated
Determine wing unmanned plane, 16 vectors for being suitable for unmanned plane promote accelerator.
Specific embodiment
Clear, complete description is carried out to technical scheme of the present invention with reference to the accompanying drawings and examples, the present invention's
In description, it should be noted that term " " center ", " on ", " under ", "left", "right", " vertical ", " level ", " interior ", " outer " etc.
The orientation or position relationship of instruction are based on orientation shown in the drawings or position relationship, are for only for ease of the description present invention and letter
Change description rather than instruction or imply that signified device or element there must be specific orientation, with specific azimuth configuration
And operation, therefore be not considered as limiting the invention.
Embodiment 1
As shown in Figs. 1-3, the vector suitable for unmanned plane promotes accelerator to include two-freedom rotatable platform, institute
It states two-freedom rotatable platform and includes main support 1 and tilt mount 2, ducted fan 5 is mounted on tilt mount 2, the pitching
Stent 2 is equipped with rotation axis 12, and 1 side of the main support setting main support through-hole 10,1 opposite side of main support sets motor
Slot 13,12 left end of rotation axis are rotationally connected in the main support through-hole 10, and tilt mount 2 can be around 12 phase of rotation axis
Main support 1 is rotated freely；
The axis for reducing frictional resistance between main support through-hole 10 and rotation axis 12 is equipped in the main support through-hole 10
9 are held, 9 inner surface of bearing is matched with 12 outer surface of rotation axis；
The two-freedom rotatable platform carries motor I 3 and motor II 4, the main body of the motor II 4 are fixed on the master
On the motor slot 13 of stent 1, the right end of rotation axis 12 described in the motor axis connection of the motor II 4, the motor II 4 leads to
Crossing the rotation axis 12 drives the tilt mount 2 to rotate, and changes the pitch angle of the ducted fan 5；
The main body of the motor I 3 is fixed on mounting bracket 7, and main support 1 described in the motor axis connection of the motor I 3 pushes up
Portion, the motor I 3 drive the main support 1 to rotate, change the yaw angle of the ducted fan 5；
The mounting bracket 7 is internally provided with Control card 6；It is wrapped up around the Control card 6 by vibration-absorptive material 8, the culvert
Road fan 5, the motor I 3 and the motor II 4 are electrically connected respectively with the Control card 6.
As the preferred of engine, as alternative embodiment, rocket motor also can be used in the ducted fan 5
Machine.
The Control card 6 includes micro-control unit, attitude angle element MPU and remote controller signal receiver；
For the micro-control unit handled attitude data in attitude angle element MPU6050, using anti-
Feedback control sends instructions to the motor II 4, automatic to eliminate the platform pitch angle variation caused by unmanned plane pitching movement, i.e.,
It is zero to remain platform pitch angle, and 5 thrust of ducted fan is made to keep in the horizontal direction；
Two parts control instruction signal transmission that remote controller signal receiver reception user is sent out by remote controler is to micro-control
Unit processed：
First part is responsible for 5 thrust direction of ducted fan on platform, and micro-control unit handles the part signal, to motor I 3
It is controlled, motor I 3 drives tilt mount 2 to rotate, and changes the direction of 5 thrust of ducted fan；Second part is responsible for containing on platform
The size of 5 thrust of road fan, micro-control unit handle the part signal, and the rotating speed of ducted fan 5 is controlled, and control duct
5 thrust size of fan.
Preferably, the attitude angle element MPU is six axle sensor of MPU6050 types, and the micro-control unit is
STM32F103C8T6 type microcontrollers can also use other elements with identical function as alternative embodiment.
The battery powered that the motor I 3, the motor II 4, ducted fan 5 and Control card 6 are carried by unmanned plane.
Other engines are compared using the ducted fan 5, have that controllability is high, stability is good, safe excellent
Point.
Electron speed regulator for controlling speed, the electron speed regulator and the micro-control are set in the ducted fan 5
Unit processed is connected.
The methods of 7 both ends of mounting bracket setting mounting bracket through-hole 11, the mounting bracket through-hole 11 is coupled with screw, will dress
It puts and is fixed on unmanned plane surface.
Including two-freedom rotatable platform, engine, Control card, power supply and remote controler；
The two-freedom rotatable platform is two-freedom frame structure, makes the pitching of platform and yaw control solution completely
Coupling, and equipped with fixing structure of engine；
The driving of the frame structure of the two-freedom rotatable platform is realized using motor, that is, needs to be distinguished with two motors
It realizes pitching and yaws the control of two channels；
Pitch channel controls, and needs to measure pitch angle using the attitude angle element on flight Control card, and utilize
Feedback control is eliminated the platform pitch angle caused by unmanned plane pitching movement and is changed automatically, that is, remains platform pitch angle
It is zero, and then ensures that the thrust of engine on platform is in horizontal plane always；
Jaw channel controls, and needs to instruct using the yaw that the receiver reception remote controler on Control card is sent out, described
Yaw instruction through Control card is converted into jaw channel motor control instruction, that is, realizes on platform motor power in horizontal plane
The control of interior any direction.
For engine assembly in platform most inner side frame, engine is ducted fan or rocket engine；The engine
Generate the size-controlled making sheet card control of thrust.
Platform stance and control engine are adjusted according to remote command for the Control card of measuring table posture
Thrust size.
Setting power supply in unmanned plane, powers for board in order to control, motor and electronic class engine (such as ducted fan).
Outside setting remote controler, for accelerator being promoted to send control instruction for unmanned plane vector, is specifically divided into thrust
Direction controlling and the control of thrust size.
Preferably, the main support 1 is made of ABS material, using main support 1 is light described in this material and intensity is suitble to.
Embodiment 2
As shown in figure 4, a kind of vector suitable for unmanned plane promotes accelerated method, including the described unmanned plane that is suitable for
Vector promotes accelerator, further comprising the steps of：
S11：By described in one be suitable for unmanned plane vector promote accelerator 16 be removably connected to quadrotor nobody
The geometric center position of machine 14；
S12：Control instruction signal is sent out by remote controler, the control instruction signal includes thrust direction signal and thrust
High low signal；
S13：The control instruction signal transmission that the remote controller signal receiver reception remote controler is sent out is to microcontroller
Unit, the rotation of micro-control unit controls motor I 3, motor II 4 or engine；
S14：When the state of flight of unmanned plane changes, S2 steps are repeated, until reaching the state of flight of needs.
Further, in above-mentioned technical proposal, the S13 steps include S13a or S13b steps：
S13a：After thrust direction signal controls the motor power direction, micro-control unit to handle thrust direction signal,
The micro-control unit controls motor I 3, and the motor I 3 drives tilt mount 2 to rotate, and adjusts the motor power
Vertical direction；
S13a：After thrust direction signal controls the motor power direction, micro-control unit to handle thrust direction signal,
The micro-control unit controls motor II 4, and the motor II 4 drives main support 1 to rotate, and adjusts the motor power
Horizontal direction；
S13b:Thrust high low signal controls the size of the motor power, micro-control unit processing thrust high low signal
Afterwards, the rotating speed of the engine is controlled, controls the motor power size.
Embodiment 3
As shown in figure 5, a kind of vector suitable for unmanned plane promotes accelerated method, including the described unmanned plane that is suitable for
Vector promotes accelerator, further comprising the steps of：
S11：Accelerator 16 is promoted symmetrically to be removably connected to fixation the vector for being suitable for unmanned plane described in two
On two wings of wing unmanned plane 15；
S12：Control instruction signal is sent out by remote controler, the control instruction signal includes thrust direction signal and thrust
High low signal；
S13：The control instruction signal transmission that the remote controller signal receiver reception remote controler is sent out is to microcontroller
Unit, the rotation of micro-control unit controls motor I 3, motor II 4 or engine；
S14：When the state of flight of unmanned plane changes, S2 steps are repeated, until reaching the state of flight of needs.
Further, in above-mentioned technical proposal, the S13 steps include S13a or S13b steps：
S13a：After thrust direction signal controls the motor power direction, micro-control unit to handle thrust direction signal,
The micro-control unit controls motor I 3, and the motor I 3 drives tilt mount 2 to rotate, and adjusts the motor power
Vertical direction；
S13a：After thrust direction signal controls the motor power direction, micro-control unit to handle thrust direction signal,
The micro-control unit controls motor II 4, and the motor II 4 drives main support 1 to rotate, and adjusts the motor power
Horizontal direction；
S13b:Thrust high low signal controls the size of the motor power, micro-control unit processing thrust high low signal
Afterwards, the rotating speed of the engine is controlled, controls the motor power size.
Embodiment 4
A kind of vector suitable for unmanned plane promotes accelerated method, promotes and adds including the vector suitable for unmanned plane
Speed variator, it is further comprising the steps of：
S21：By described in one be suitable for unmanned plane vector promote accelerator 16 be removably connected to quadrotor nobody
The geometric center position of machine 14；
S22：Attitude angle element MPU detects pitching angle signal；
S23：Pitch angle signal transmission is to micro-control unit；
S24：The rotation of micro-control unit controls motor I 3, motor II 4 or engine；
S25：When the state of flight of unmanned plane changes, S2 steps are repeated, until reaching the state of flight of needs.
Further, in above-mentioned technical proposal, the S24 steps include S24a or S24b steps：
S24a：Motor power direction described in micro-control unit controls, the micro-control unit is according to pitching angle signal pair
Motor I 3 is controlled, and the motor I 3 drives tilt mount 2 to rotate, and adjusts the direction of the motor power；
S24b:The size of motor power described in micro-control unit controls controls the rotating speed of the engine, control
Make the motor power size.
The present invention is applied not only to unmanned plane, can also be installed on unmanned balloon, unmanned airship and unmanned boat.
It is entirely unmanned to set because of the effect of lift or buoyancy and resistance since unmanned equipment is in high-speed motion
Standby head can be upturned, and can be adjusted the angle and be improved speed using the present invention, additionally it is possible to carry out pose adjustment, Jin Erfang
It only topples or overturns, and then improve stability, controllability and flexibility.
The above, a kind of specific embodiment only of the invention, but protection scope of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of vector suitable for unmanned plane promotes accelerator, it is characterised in that：It is described including two-freedom rotatable platform
Two-freedom rotatable platform includes main support (1) and tilt mount (2), and engine is mounted on tilt mount (2), the pitching
Stent (2) is equipped with rotation axis (12), and main support (1) side sets main support through-hole (10), and the main support (1) is another
Side setting motor slot (13), rotation axis (12) left end are rotationally connected in the main support through-hole (10), tilt mount (2)
It can be rotated freely around the rotation axis (12) with respect to main support (1)；
It is equipped with to reduce frictional resistance between main support through-hole (10) and rotation axis (12) in the main support through-hole (10)
Bearing (9), bearing (9) inner surface are matched with the rotation axis (12) outer surface；
The two-freedom rotatable platform carries motor I (3) and motor II (4), described in the main body of the motor II (4) is fixed on
On the motor slot (13) of main support (1), the right end of rotation axis (12), institute described in the motor axis connection of the motor II (4)
State motor II (4) drives the tilt mount (2) to rotate by the rotation axis (12)；
The main body of the motor I (3) is fixed on mounting bracket (7), main support (1) described in the motor axis connection of the motor I (3)
Top, the motor I (3) drive main support (1) rotation.
2. the vector according to claim 1 suitable for unmanned plane promotes accelerator, it is characterised in that：The mounting bracket
(7) it is internally provided with Control card (6)；It is wrapped up around the Control card (6) by vibration-absorptive material (8), the engine, the electricity
Machine I (3) and the motor II (4) are electrically connected respectively with the Control card (6).
3. the vector according to claim 2 suitable for unmanned plane promotes accelerator, it is characterised in that：The control panel
Block setting micro-control unit, attitude angle element MPU and remote controller signal receiver in (6)；
For the micro-control unit handled attitude data in attitude angle element MPU, sent out using feedback control
Sending instruction, automatic elimination platform pitch angle caused by unmanned plane pitching movement changes, i.e., protects always to the motor II (4)
The platform pitch angle that maintains an equal level is zero, and the motor power is made to keep in the horizontal direction；
The control instruction signal transmission that the remote controller signal receiver reception user is sent out by remote controler is to micro-control unit.
4. the vector suitable for unmanned plane according to claim 1,2 or 3 promotes accelerator, it is characterised in that：It is described
Mounting bracket (7) both ends setting mounting bracket through-hole (11), the mounting bracket through-hole (11) is with screw or bolted on connection method by device
It is fixed on unmanned plane surface.
5. a kind of vector suitable for unmanned plane promotes accelerated method, it is characterised in that：It is suitable for including described in claim 1
The vector of unmanned plane promotes accelerator, further comprising the steps of：
S11：Accelerator is promoted to be removably connected to the several of quadrotor unmanned plane the vector for being suitable for unmanned plane described in one
The vector for being suitable for unmanned plane described in two is promoted accelerator to be symmetrically removably connected to fixation by what center
On two wings of wing unmanned plane；
S12：Control instruction signal is sent out by remote controler, the control instruction signal includes thrust direction signal and thrust size
Signal；
S13：The remote controller signal receiver receives control instruction signal transmission that the remote controler sends out to micro-control unit,
The rotation of micro-control unit controls motor I (3), motor II (4) or engine；
S14：When the state of flight of unmanned plane changes, S2 steps are repeated, until reaching the state of flight of needs.
6. the vector according to claim 5 suitable for unmanned plane promotes accelerated method, it is characterised in that：The S13 steps
Suddenly include S13a or S13b steps：
S13a：It is described after thrust direction signal controls the motor power direction, micro-control unit to handle thrust direction signal
Micro-control unit controls motor I (3), and the motor I (3) drives tilt mount (2) to rotate, and adjusts the engine and pushes away
The vertical direction of power；
S13a：It is described after thrust direction signal controls the motor power direction, micro-control unit to handle thrust direction signal
Micro-control unit controls motor II (4), and the motor II (4) drives main support (1) to rotate, and adjusts the engine and pushes away
The horizontal direction of power；
S13b:It is right after thrust high low signal controls the size of the motor power, micro-control unit to handle thrust high low signal
The rotating speed of the engine is controlled, and controls the motor power size.
7. a kind of vector suitable for unmanned plane promotes accelerated method, it is characterised in that：It is suitable for including described in claim 1
The vector of unmanned plane promotes accelerator, further comprising the steps of：
S21：Accelerator is promoted to be removably connected to the several of quadrotor unmanned plane the vector for being suitable for unmanned plane described in one
What center；
S22：Attitude angle element MPU detects pitching angle signal；
S23：Pitch angle signal transmission is to micro-control unit；
S24：The rotation of micro-control unit controls motor I (3), motor II (4) or engine；
S25：When the state of flight of unmanned plane changes, S2 steps are repeated, until reaching the state of flight of needs.
8. the vector according to claim 7 suitable for unmanned plane promotes accelerated method, it is characterised in that：The S24 steps
Suddenly include S24a or S24b steps：
S24a：Motor power direction described in micro-control unit controls, the micro-control unit is according to pitching angle signal to motor I
(3) it is controlled, the motor I (3) drives tilt mount (2) to rotate, and adjusts the direction of the motor power；
S24b:The size of motor power described in micro-control unit controls controls the rotating speed of the engine, controls institute
State motor power size.
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