CN108445910B - Method and device for controlling motor acceleration of unmanned aerial vehicle and electronic speed regulator - Google Patents
Method and device for controlling motor acceleration of unmanned aerial vehicle and electronic speed regulator Download PDFInfo
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Abstract
The embodiment of the invention relates to a method and a device for controlling the acceleration of a motor of an unmanned aerial vehicle, an electronic speed regulator and the unmanned aerial vehicle, wherein the method comprises the following steps: acquiring the operating parameters of the unmanned aerial vehicle; according to whatThe operation parameters confirm whether the unmanned aerial vehicle horn is abnormal and in a flight state; if the unmanned aerial vehicle horn is abnormal and in a flight state, increasing the q-axis voltage U at the previous momentqrefOr the q-axis voltage U at the previous momentqrefKept unchanged to obtain q-axis voltage U 'of the current moment'qref(ii) a According to the q-axis voltage U 'of the current moment'qrefAnd controlling the motor. The embodiment of the invention solves the problem that the active voltage is continuously reduced when the mechanical arm is abnormal in the prior art, effectively avoids the unmanned aerial vehicle from being planted in one direction, and ensures that the unmanned aerial vehicle has sufficient power so as to be capable of returning or flying to other safe places.
Description
Technical Field
The embodiment of the invention relates to the technical field of motor control, in particular to a method and a device for controlling the motor acceleration of an unmanned aerial vehicle, an electronic speed regulator and the unmanned aerial vehicle.
Background
If the horn of the unmanned aerial vehicle is damaged during the use process, the horn vibrates during the flight process, for example, the horn of a foldable unmanned aerial vehicle can crack after being used for a period of time, so that the horn is easy to vibrate violently during the flight process. In an acceleration control strategy, when the current of a motor of the unmanned aerial vehicle is overlarge, an overcurrent protection mechanism is started, and the given value of active voltage is reduced. The horn can lead to very big motor current when shaking, if start the overcurrent protection mechanism this moment, can make active voltage constantly reduce, finally can lead to unmanned vehicles to one direction and plant, is very unfavorable to flight safety.
Disclosure of Invention
The invention aims to provide a method and a device for controlling the motor acceleration of an unmanned aerial vehicle, an electronic speed regulator and the unmanned aerial vehicle, which can improve the flight safety of the unmanned aerial vehicle.
In order to solve the technical problem, in a first aspect, an embodiment of the present invention provides a method for controlling motor acceleration of an unmanned aerial vehicle, where the method for motor acceleration includes:
acquiring the operating parameters of the unmanned aerial vehicle;
determining whether the unmanned aerial vehicle horn is abnormal and in a flight state according to the operation parameters;
if the unmanned aerial vehicle horn is abnormal and in a flight state, increasing the q-axis voltage U at the previous momentqrefOr the q-axis voltage U at the previous momentqrefKept unchanged to obtain q-axis voltage U 'of the current moment'qref；
According to the q-axis voltage U 'of the current moment'qrefAnd controlling the motor.
In some embodiments, the operating parameters include:
an altitude measurement of the UAV and/or a position measurement of the UAV, and a three-axis acceleration measurement of the UAV;
the determining whether the unmanned aerial vehicle horn is abnormal and in a flight state according to the operating parameters includes:
when the acceleration measured values of three axes in the three-axis acceleration measured values are all smaller than or equal to respective corresponding preset acceleration threshold values, judging that the horn of the unmanned aerial vehicle is normal;
when the acceleration measurement value of any axis in the three-axis acceleration measurement values is greater than a corresponding preset acceleration threshold value, if the altitude measurement value is 0, or the altitude measurement value is not 0 and the altitude measurement value and the position measurement value are not changed, the unmanned aerial vehicle horn is judged to be abnormal and in a non-flight state, and if the altitude measurement value is changed or the position measurement value is changed, the unmanned aerial vehicle horn is judged to be abnormal and in a flight state.
In some embodiments, if the unmanned aerial vehicle horn is abnormal and in a flight state, the q-axis voltage U at the last moment is increasedqrefOr the q-axis voltage U at the previous momentqrefKept unchanged to obtain q-axis voltage U 'of the current moment'qrefThe method comprises the following steps:
obtaining the q-axis voltage U at the previous momentqref；
Obtaining a first coefficient K0And a second coefficient K;
obtaining a preset q-axis voltage change value delta UqrefWherein, Δ UqrefGreater than 0;
according to a formula U'qref＝Uqref+K×K0×ΔUqrefCalculating the q-axis voltage U 'at the current moment'qrefWherein:
if the unmanned aerial vehicle horn is abnormal and in a flight state, the first coefficient K0Less than or equal to 0; otherwise, the first coefficient K0Greater than 0;
if the current peak value is larger than a preset current threshold value, the second coefficient K is smaller than or equal to 0; otherwise, the second coefficient K is greater than 0.
In some embodiments, the first coefficient K is the first coefficient K if the UAV horn is abnormal and in flight0Less than or equal to 0; otherwise, the first coefficient K0Greater than 0, including:
if the unmanned aerial vehicle horn is abnormal and in a flight state, the first coefficient K0Is 0; otherwise, the first coefficient K0Is 1;
if the current peak value is larger than a preset current threshold value, the second coefficient K is smaller than or equal to 0; otherwise, the second coefficient K is greater than 0, including:
if the current peak value is larger than a preset current threshold value, the second coefficient K is equal to-1; otherwise, the second coefficient K is 1.
In some embodiments, the method further comprises:
transmitting the first coefficient K0A flight control chip to the UAV, the flight control chip being at the first coefficient K0And when the current value is less than or equal to 0, controlling the unmanned aerial vehicle to fly to a specified place.
In some embodiments, the designated location is an initial position of the UAV at takeoff.
In a second aspect, an embodiment of the present invention further provides an apparatus for controlling motor acceleration of an unmanned aerial vehicle, where the apparatus for motor acceleration includes:
the operation parameter acquisition module is used for acquiring operation parameters of the unmanned aerial vehicle;
the state confirmation module is used for confirming whether the unmanned aerial vehicle horn is abnormal and in a flight state according to the operation parameters;
a current q-axis voltage acquisition module, configured to increase q-axis voltage U at a previous moment if the unmanned aerial vehicle horn is abnormal and in a flight stateqrefOr the q-axis voltage U at the previous momentqrefKept unchanged to obtain q-axis voltage U 'of the current moment'qref；
The motor control module is used for controlling the q-axis voltage U 'according to the current moment'qrefAnd controlling the motor.
In some embodiments, the operating parameters include:
an altitude measurement of the UAV and/or a position measurement of the UAV, and a three-axis acceleration measurement of the UAV;
the state confirmation module is specifically configured to:
when the acceleration measured values of three axes in the three-axis acceleration measured values are all smaller than or equal to respective corresponding preset acceleration threshold values, judging that the horn of the unmanned aerial vehicle is normal;
when the acceleration measurement value of any axis in the three-axis acceleration measurement values is greater than a corresponding preset acceleration threshold value, if the altitude measurement value is 0, or the altitude measurement value is not 0 and the altitude measurement value and the position measurement value are not changed, the unmanned aerial vehicle horn is judged to be abnormal and in a non-flight state, and if the altitude measurement value is changed or the position measurement value is changed, the unmanned aerial vehicle horn is judged to be abnormal and in a flight state.
In some embodiments, the current q-axis voltage acquisition module is specifically configured to:
obtaining the q-axis voltage U at the previous momentqref；
Obtaining a first coefficient K0And a second coefficient K;
obtaining a preset q-axis voltage change value delta UqrefWherein, Δ UqrefGreater than 0;
according to a formula U'qref＝Uqref+K×K0×ΔUqrefCalculating the q-axis voltage U 'at the current moment'qrefWherein:
if the unmanned aerial vehicle horn is abnormal and in a flight state, the first coefficient K0Less than or equal to 0; otherwise, the first coefficient K0Greater than 0;
if the current peak value is larger than a preset current threshold value, the second coefficient K is smaller than or equal to 0; otherwise, the second coefficient K is greater than 0.
In some embodiments, the current q-axis voltage acquisition module is specifically configured to:
if the unmanned aerial vehicle horn is abnormal and in a flight state, the first coefficient K0Is 0; otherwise, the first coefficient K0Is 1;
if the current peak value is larger than a preset current threshold value, the second coefficient K is equal to-1; otherwise, the second coefficient K is 1.
In some embodiments, the apparatus further comprises:
a parameter sending module for sending the first coefficient K0A flight control chip to the UAV, the flight control chip being at the first coefficient K0And when the current value is less than or equal to 0, controlling the unmanned aerial vehicle to fly to a specified place.
In some embodiments, the designated location is an initial position of the UAV at takeoff.
In a third aspect, an embodiment of the present invention further provides an electronic governor for controlling an operation of a motor, where the electronic governor includes a motor controller and a motor driver that are electrically connected, and both the motor controller and the motor driver are electrically connected to the motor, and the motor controller includes:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method described above.
In a fourth aspect, an embodiment of the present invention further provides an unmanned aerial vehicle, including:
a body;
the machine arm is arranged on the machine body;
the electronic speed regulator comprises a motor arranged on the machine body and an electronic speed regulator used for controlling the motor to operate, wherein the electronic speed regulator is the electronic speed regulator.
In a fifth aspect, the embodiments of the present invention also provide a non-volatile computer-readable storage medium, which stores computer-executable instructions that, when executed by an unmanned aerial vehicle, cause the unmanned aerial vehicle to perform the above-mentioned method.
According to the embodiment of the invention, the operation parameters of the unmanned aerial vehicle are obtained, whether the horn of the unmanned aerial vehicle is abnormal and in a flight state is determined according to the operation parameters, and if the horn of the unmanned aerial vehicle is abnormal and in the flight state, the current q-axis voltage is increased or kept unchanged. The problem of among the prior art when the arm is unusual active voltage constantly reduces is solved, the effectual unmanned vehicles of having avoided is planted toward a direction, and ensures that unmanned vehicles power is sufficient to make it can return to the journey or fly to other safe places.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram of an application scenario of the method and apparatus for controlling motor acceleration of an unmanned aerial vehicle according to the present invention;
FIG. 2 is a flow chart of one embodiment of a method of the present invention for controlling motor acceleration of an unmanned aerial vehicle;
FIG. 3 is a schematic diagram of the motor control concept in one embodiment of the method of controlling the acceleration of the motors of an unmanned aerial vehicle of the present invention;
FIG. 4 is a schematic structural diagram of an embodiment of the apparatus for controlling the acceleration of a motor of an unmanned aerial vehicle according to the present invention;
FIG. 5 is a schematic structural diagram of an embodiment of the apparatus for controlling the acceleration of a motor of an unmanned aerial vehicle according to the present invention;
fig. 6 is a schematic diagram of a hardware structure of an electronic governor according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings in conjunction with specific embodiments.
It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are used for distinguishing two entities with the same name but different names or different parameters, and it should be noted that "first" and "second" are merely for convenience of description and should not be construed as limitations of the embodiments of the present invention, and they are not described in any more detail in the following embodiments.
The method and the device for controlling the motor acceleration of the unmanned aerial vehicle provided by the embodiment of the invention are suitable for the application scene shown in fig. 1, wherein the application scene comprises the unmanned aerial vehicle 100, and the unmanned aerial vehicle 100 comprises a motor 10, an electronic speed regulator 20 and a flight controller 30. The flight controller 30 is a control system of the unmanned aerial vehicle 100, and controls the flight of the unmanned aerial vehicle 100. The flight controller 30 includes various sensors such as a barometric pressure sensor, an ultrasonic sensor, an inertial measurement unit, and a GPS module. The motor 10 is used for providing power for the flight of the unmanned aerial vehicle 100, and the electronic governor 20 includes a motor driver 21 and a motor controller 22, wherein the motor controller 22 receives a two-phase or three-phase current signal from the motor 10 through a current sensor (not shown in the figure), and outputs a control signal to the motor 10 through the motor driver 21 to control the operation of the motor 10. The motor 10 may be a permanent magnet synchronous motor or an asynchronous ac motor, among other suitable types of motors.
Fig. 2 is a schematic flow chart of an embodiment of a method for controlling motor acceleration of an unmanned aerial vehicle, which may be performed by the motor controller 22 in the motor governor 20 in fig. 1, according to an embodiment of the present invention, and as shown in fig. 2, the method for controlling motor acceleration includes:
101: and acquiring the operating parameters of the unmanned aerial vehicle.
Such as three-axis (xyz) acceleration measurements, altitude measurements, and position measurements, among others, of the UAV 100. The operating parameters may be sent to the motor controller 22 through the flight controller 30, for example, a three-axis acceleration measurement may be obtained by an Inertial Measurement Unit (IMU) of the flight controller 30, an altitude measurement may be obtained by an air pressure sensor, and a position measurement may be obtained by a Positioning device such as a Global Positioning System (GPS) module.
102: and determining whether the unmanned aerial vehicle horn is abnormal and in a flight state according to the operation parameters.
Whether the horn of the unmanned aerial vehicle 100 is abnormal and in a flight state is determined, whether the horn is abnormal or not may be determined, and if the acceleration measurement values of xyz three axes in the three-axis acceleration measurement values are all smaller than or equal to respective preset acceleration threshold values, it may be determined that the horn of the unmanned aerial vehicle 100 is normal. If the acceleration measurement value of one of the xyz three axes is greater than its corresponding preset acceleration threshold value, it may be determined that the horn of the unmanned aerial vehicle 100 is abnormal. If the horn is abnormal, whether the unmanned aerial vehicle 100 is in a flying state or not is further judged, whether the unmanned aerial vehicle 100 is in a flying state or not is judged, and judgment can be carried out through the height measurement value and/or the position measurement value. For example, if the altitude measurement value is 0, it indicates that the unmanned aerial vehicle 100 is stopped on the ground, and if the altitude measurement value is not 0 but the position measurement value is not changed, it indicates that the unmanned aerial vehicle 100 is stopped in the air, both of which may determine that the unmanned aerial vehicle 100 is in a non-flight state. If the altitude measurement value changes or the position measurement value changes, it may be determined that the unmanned aerial vehicle 100 is in a flight state. In other embodiments, it may also be determined whether the unmanned aerial vehicle 100 is in a flight state, and if the unmanned aerial vehicle 100 is in the flight state, it is determined whether the horn is abnormal.
103: if the unmanned aerial vehicle horn is abnormal and in a flight state, increasing the q-axis voltage U at the previous momentqrefOr the q-axis voltage U at the previous momentqrefKept unchanged to obtain q-axis voltage U 'of the current moment'qref。
If the arm of the unmanned aerial vehicle 100 is determined to be abnormal and in a flight state through the operation parameters of the unmanned aerial vehicle 100, increasing the q-axis voltage U at the last momentqrefOr the q-axis voltage U at the previous momentqrefAnd the power of the unmanned aerial vehicle 100 is kept unchanged, so that the unmanned aerial vehicle can be ensured to have sufficient power, realize successful return voyage, or fly to other designated places.
Taking an acceleration control strategy shown in fig. 3 as an example, in the control strategy shown in fig. 3, the acceleration of the motor is usually realized by increasing the current q-axis voltage (active voltage) according to a certain condition, and the current d-axis voltage (reactive voltage) is obtained by closed-loop control of the d-axis current. When the control strategy is used for accelerating the unmanned aerial vehicle, the q-axis voltage change value (namely delta U) needs to realize rapid accelerationqref) Larger, easily cause system instability, can give Δ UqrefThe coefficient K is increased to avoid instability of the system. I.e. the current q-axis voltage U'qrefObtained by the following formula.
U'qref＝Uqref+KΔUqref(1)
Wherein, UqrefRepresenting the q-axis voltage, Δ U, at the previous momentqrefRepresenting a preset q-axis voltage variation value.
And when the current peak value is larger than the preset current threshold value, setting the q-axis voltage change coefficient K to be a number smaller than or equal to 0. So that when the current peak value is less than or equal to the preset current threshold value, the current q-axis voltage is larger than the q-axis voltage at the last moment, and when the current peak value is larger than the preset currentWhen the threshold value is set, the current q-axis voltage is smaller than or not changed from the q-axis voltage at the previous moment. So that the q-axis voltage can be changed by the value DeltaUqrefA larger number is provided to ensure the maneuverability of the system. And when the current peak value exceeds the preset current threshold value, the q-axis voltage change coefficient is smaller than or equal to 0 so as to reduce the q-axis voltage or keep the q-axis voltage unchanged, thereby avoiding the instability of the system.
When the formula (1) is used for control, when the horn of the unmanned aerial vehicle is abnormal, the current peak value will be very large, and at the moment, the current q-axis voltage may be continuously reduced, so that the unmanned aerial vehicle 100 is planted in one direction. To ensure flight safety of unmanned aerial vehicle 100, current q-axis voltage U'qrefCan be obtained by the formula (2), i.e. increasing the coefficient K0。
U'qref＝Uqref+K×K0×ΔUqref(2)
Wherein, if the horn of the UAV 100 is abnormal and in flight, K0Less than or equal to 0, otherwise K0Greater than 0. Thus, when the horn of the unmanned aerial vehicle 100 is abnormal and in a flight state, the coefficient K is less than or equal to 0 due to the large peak current, and the coefficient K0Is also less than or equal to 0, then the current q-axis voltage U'qrefFor the last moment voltage increase or unchangeable, can avoid unmanned vehicles 100 to plant to a direction, and can keep enough power, make unmanned vehicles 100 can return the journey or fly to other safe places. In particular, the coefficient K may be transmitted0To the flight control chip of the unmanned aerial vehicle 100 so that the flight control chip is in accordance with the coefficient K0Judging the state of the unmanned aerial vehicle 100 when K0And when the value is less than or equal to 0, controlling the unmanned aerial vehicle 100 to fly to a specified place. Where a designated location, such as the initial position of the unmanned aerial vehicle at takeoff, or other pre-set safe landing point.
Specifically, in some embodiments, K may be made 1 < K ≦ 0 when the present current peak value is greater than the preset current threshold value, and K may be made 1 when the present current peak value is less than or equal to the preset current threshold value. In other embodiments, K is made-1 when the present current peak value is greater than the preset current threshold value, and K is made 1 when the present current peak value is less than or equal to the preset current threshold value. Namely:
wherein, Delta I1＝I1-I1max，I1Represents the peak current value, I1maxRepresenting a preset current threshold.
In some embodiments, K is the distance K if the unmanned aerial vehicle 100 horn is abnormal and in flight0Is 0, otherwise K0Is 1.
In some of these embodiments, the current peak may be
Preset current threshold I1maxIs the maximum current value I1max1.05-1.2 times (e.g., 1.1 times) of' is used. Maximum current value I1max' may be the current value obtained when the motor is operating at the maximum throttle setting under full inverter supply battery conditions.
Wherein, Delta UqrefIs a number greater than 0, Δ U in practical useqrefCan be set according to the specific situation of the motor application, can maintain the delta U in the whole control processqrefThe delta U can be controlled in the process according to the specific acceleration requirement without changingqrefAnd (6) adjusting.
In the following, a specific method for controlling a motor is described by taking fig. 3 as an example, two-phase currents ia and ib of the motor (in the figure, a permanent magnet synchronous motor is taken as an example) are obtained through a current sensor (not shown in the figure), another phase current ic can be obtained by calculation according to kirchhoff principle, and Clark transformation and Park transformation are performed on ia, ib and ic to obtain a current d-axis current IdAnd a present q-axis current Iq. Current d-axis current IdAnd d-axis current I at the previous momentdrefThe deviation (the initial d-axis current is the target d-axis current) is introduced into a PI controller to obtain the current d-axis voltage Udref. Determining according to horn and flight state of unmanned aerial vehicleCoefficient K0Determining a coefficient K according to the current peak current according to a formula U'qref＝Uqref+K×K0×ΔUqrefObtaining the current q-axis voltage U'qref. For the current d-axis voltage UdrefAnd a current q-axis voltage U'qrefAnd performing Park inverse transformation, obtaining a three-phase voltage command according to the rotor angle theta, and performing PWM (pulse width modulation) adjustment on the inverter according to the three-phase voltage command to output a control signal to the motor 10.
Correspondingly, the embodiment of the invention also provides a device for controlling the motor acceleration of the unmanned aerial vehicle, which can be used for the electronic governor 20 in fig. 1, and as shown in fig. 4, the device 400 for controlling the motor acceleration includes an operating parameter acquisition module 401, a state confirmation module 402, and a current q-axis voltage acquisition module 403, and a motor control module 404. The parameter obtaining module 401 obtains the operation parameters of the unmanned aerial vehicle 100, and then the state confirmation module 402 confirms whether the horn of the unmanned aerial vehicle 100 is abnormal and in the flight state according to the operation parameters. If the horn of the unmanned aerial vehicle 100 is abnormal and in a flight state, the current q-axis voltage acquisition module 403 increases the q-axis voltage U at the previous momentqrefOr the q-axis voltage U at the previous momentqrefKept unchanged to obtain q-axis voltage U 'of the current moment'qref. Motor control module 404 then generates q-axis voltage U 'according to the current time'qrefAnd controlling the motor.
According to the embodiment of the invention, by acquiring the operation parameters of the unmanned aerial vehicle 100 and confirming whether the horn of the unmanned aerial vehicle 100 is abnormal and in a flight state according to the operation parameters, if the horn of the unmanned aerial vehicle 100 is abnormal and in the flight state, the current q-axis voltage is increased or kept unchanged. The problem of among the prior art when the arm is unusual active voltage constantly reduces is solved, the effectual unmanned vehicles 100 of having avoided is planted toward a direction, and ensures that unmanned vehicles 100 power is sufficient to make it can return to the journey or fly to other safe places.
Wherein, in some embodiments, the operating parameters include:
altitude and/or position measurements, and three-axis acceleration measurements of UAV 100;
the status confirmation module 402 is specifically configured to:
when the acceleration measured values of three axes in the three-axis acceleration measured values are all smaller than or equal to respective corresponding preset acceleration threshold values, judging that the horn of the unmanned aerial vehicle is normal;
when the acceleration measurement value of any axis in the three-axis acceleration measurement values is greater than a corresponding preset acceleration threshold value, if the altitude measurement value is 0, or the altitude measurement value is not 0 and the altitude measurement value and the position measurement value are not changed, the unmanned aerial vehicle horn is judged to be abnormal and in a non-flight state, and if the altitude measurement value is changed or the position measurement value is changed, the unmanned aerial vehicle horn is judged to be abnormal and in a flight state.
In some embodiments of the apparatus 400 for motor acceleration, the current q-axis voltage acquisition module 403 is specifically configured to:
obtaining the q-axis voltage U at the previous momentqref；
Obtaining a first coefficient K0And a second coefficient K;
obtaining a preset q-axis voltage change value delta UqrefWherein, Δ UqrefGreater than 0;
according to a formula U'qref＝Uqref+K×K0×ΔUqrefCalculating the q-axis voltage U 'at the current moment'qrefWherein:
if the unmanned aerial vehicle horn is abnormal and in a flight state, the first coefficient K0Less than or equal to 0; otherwise, the first coefficient K0Greater than 0;
if the current peak value is larger than a preset current threshold value, the second coefficient K is smaller than or equal to 0; otherwise, the second coefficient K is greater than 0.
In some embodiments of the apparatus 400 for motor acceleration, the current q-axis voltage acquisition module 403 is specifically configured to:
if the unmanned aerial vehicle horn is abnormal and is in flightLine state, then the first coefficient K0Is 0; otherwise, the first coefficient K0Is 1;
if the current peak value is larger than a preset current threshold value, the second coefficient K is equal to-1; otherwise, the second coefficient K is 1.
In some other embodiments of the apparatus 400 for accelerating the motor, referring to fig. 5, the apparatus 400 for accelerating the motor further includes:
a parameter sending module 405, configured to send the first coefficient K0A flight control chip to the UAV, the flight control chip being at the first coefficient K0And when the current value is less than or equal to 0, controlling the unmanned aerial vehicle to fly to a specified place.
In some embodiments of the apparatus 400 for motor acceleration, the designated location is an initial position of the UAV at takeoff.
It should be noted that the above motor acceleration apparatus can execute the motor acceleration method provided by the embodiment of the present invention, and has corresponding functional modules and beneficial effects of the motor acceleration method. For technical details that are not described in detail in the device embodiments, reference may be made to the method for accelerating the motor provided by the embodiments of the present invention.
As shown in fig. 6, an embodiment of the present invention further provides an electronic governor 20, where the electronic governor 20 includes a motor controller 22 and a motor driver 21 that are electrically connected, the motor controller 22 and the motor driver 21 are both used to be electrically connected to the motor 10, and the motor controller 22 includes:
one or more processors 221 and memory 222, with one processor 221 being an example in fig. 6. The processor 221 and the memory 222 may be connected by a bus or other means, such as the bus connection shown in fig. 6.
The memory 222, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/units corresponding to the method for motor acceleration in the embodiment of the present invention (for example, the operating parameter acquiring module 401, the state confirming module 402, the current q-axis voltage acquiring module 403, and the motor control module 404 shown in fig. 4). The processor 221 executes various functional applications and data processing of the electronic governor by running non-volatile software programs, instructions and units stored in the memory 222, i.e., implementing the motor acceleration method of the above-described method embodiments.
The memory 222 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the stored data area may store data created from the use of the electronic governor, and the like. Further, the memory 222 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 222 optionally includes memory located remotely from processor 221, which may be connected to the electronic governor over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more units are stored in the memory 222, and when executed by the one or more processors 221, execute the method for motor acceleration in any of the above-described method embodiments, for example, execute the method step 101 and 103 in fig. 2 described above, and implement the functions of the module 401 and 404 in fig. 4 and the module 401 and 405 in fig. 5.
The electronic speed regulator can execute the motor acceleration method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in the embodiment of the electronic governor, reference is made to the method provided by the embodiment of the present invention.
Embodiments of the present invention further provide a non-transitory computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, which are executed by one or more processors, such as the processor 221 in fig. 6, so that the one or more processors can execute the method for motor acceleration in any of the method embodiments, such as the method steps 101 and 103 in fig. 2 described above, to implement the functions of the modules 401 and 404 in fig. 4 and the modules 401 and 405 in fig. 5.
As shown in fig. 1, an embodiment of the present invention further provides an unmanned aerial vehicle 100, where the unmanned aerial vehicle 100 includes:
a body and a boom (not shown) provided on the body;
the electronic speed regulator comprises a motor 10 mounted on the machine body and an electronic speed regulator 20 used for controlling the operation of the motor 10, wherein the electronic speed regulator 20 is the electronic speed regulator.
The unmanned aerial vehicle comprises the electronic speed regulator provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects. Technical details that are not elaborated in the embodiments of the unmanned aerial vehicle can be seen in the electronic governor provided by the embodiments of the present invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; within the context of the present application, where technical features in the above embodiments or in different embodiments can also be combined, the steps can be implemented in any order and there are many other variations of the different aspects of the present application as described above, which are not provided in detail for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (13)
1. A method of controlling motor acceleration of an unmanned aerial vehicle, the method comprising:
acquiring the operating parameters of the unmanned aerial vehicle;
determining whether the unmanned aerial vehicle horn is abnormal and in a flight state according to the operation parameters;
obtaining the q-axis voltage U at the previous momentqrefA first coefficient K0And a second coefficient K, and a preset q-axis voltage change value DeltaUqrefAccording to formula U'qref＝Uqref+K×K0×ΔUqrefCalculating q-axis voltage U 'at current moment'qref(ii) a Wherein:
ΔUqrefgreater than 0, if the unmanned aerial vehicle horn is abnormal and in a flight state, the first coefficient K0Less than or equal to 0, otherwise, the first coefficient K0Greater than 0;
if the current peak value is larger than a preset current threshold value, the second coefficient K is smaller than or equal to 0, otherwise, the second coefficient K is larger than 0;
according to the q-axis voltage U 'of the current moment'qrefAnd controlling the motor.
2. The method of claim 1, wherein the operating parameters comprise:
an altitude measurement of the UAV and/or a position measurement of the UAV, and a three-axis acceleration measurement of the UAV;
the determining whether the unmanned aerial vehicle horn is abnormal and in a flight state according to the operating parameters includes:
when the acceleration measured values of three axes in the three-axis acceleration measured values are all smaller than or equal to respective corresponding preset acceleration threshold values, judging that the horn of the unmanned aerial vehicle is normal;
when the acceleration measurement value of any axis in the three-axis acceleration measurement values is greater than a corresponding preset acceleration threshold value, if the altitude measurement value is 0, or the altitude measurement value is not 0 and the altitude measurement value and the position measurement value are not changed, the unmanned aerial vehicle horn is judged to be abnormal and in a non-flight state, and if the altitude measurement value is changed or the position measurement value is changed, the unmanned aerial vehicle horn is judged to be abnormal and in a flight state.
3. According to claimThe method of 1, wherein said first factor K is determined if said UAV horn is abnormal and in flight0Less than or equal to 0; otherwise, the first coefficient K0Greater than 0, including:
if the unmanned aerial vehicle horn is abnormal and in a flight state, the first coefficient K0Is 0; otherwise, the first coefficient K0Is 1;
if the current peak value is larger than a preset current threshold value, the second coefficient K is smaller than or equal to 0; otherwise, the second coefficient K is greater than 0, including:
if the current peak value is larger than a preset current threshold value, the second coefficient K is equal to-1; otherwise, the second coefficient K is 1.
4. The method according to any one of claims 1-3, further comprising:
transmitting the first coefficient K0A flight control chip to the UAV, the flight control chip being at the first coefficient K0And when the current value is less than or equal to 0, controlling the unmanned aerial vehicle to fly to a specified place.
5. The method of claim 4, wherein the designated location is an initial position of the UAV at takeoff.
6. An apparatus for controlling motor acceleration of an unmanned aerial vehicle, the apparatus comprising:
the operation parameter acquisition module is used for acquiring operation parameters of the unmanned aerial vehicle;
the state confirmation module is used for confirming whether the unmanned aerial vehicle horn is abnormal and in a flight state according to the operation parameters;
a current q-axis voltage obtaining module for obtaining the q-axis voltage U at the last timeqrefA first coefficient K0And a second coefficient K, and a preset q-axis voltage change value DeltaUqrefAccording to formula U'qref＝Uqref+K×K0×ΔUqrefCalculating q-axis voltage U 'at current moment'qref(ii) a Wherein:
ΔUqrefgreater than 0, if the unmanned aerial vehicle horn is abnormal and in a flight state, the first coefficient K0Less than or equal to 0, otherwise, the first coefficient K0Greater than 0;
if the current peak value is larger than a preset current threshold value, the second coefficient K is smaller than or equal to 0, otherwise, the second coefficient K is larger than 0;
the motor control module is used for controlling the q-axis voltage U 'according to the current moment'qrefAnd controlling the motor.
7. The apparatus of claim 6, wherein the operating parameters comprise:
an altitude measurement of the UAV and/or a position measurement of the UAV, and a three-axis acceleration measurement of the UAV;
the state confirmation module is specifically configured to:
when the acceleration measured values of three axes in the three-axis acceleration measured values are all smaller than or equal to respective corresponding preset acceleration threshold values, judging that the horn of the unmanned aerial vehicle is normal;
when the acceleration measurement value of any axis in the three-axis acceleration measurement values is greater than a corresponding preset acceleration threshold value, if the altitude measurement value is 0, or the altitude measurement value is not 0 and the altitude measurement value and the position measurement value are not changed, the unmanned aerial vehicle horn is judged to be abnormal and in a non-flight state, and if the altitude measurement value is changed or the position measurement value is changed, the unmanned aerial vehicle horn is judged to be abnormal and in a flight state.
8. The apparatus of claim 6, wherein the current q-axis voltage acquisition module is specifically configured to:
if said does notIf the arm of the human-powered aircraft is abnormal and in a flight state, the first coefficient K0Is 0; otherwise, the first coefficient K0Is 1;
if the current peak value is larger than a preset current threshold value, the second coefficient K is equal to-1; otherwise, the second coefficient K is 1.
9. The apparatus of any one of claims 6-8, further comprising:
a parameter sending module for sending the first coefficient K0A flight control chip to the UAV, the flight control chip being at the first coefficient K0And when the current value is less than or equal to 0, controlling the unmanned aerial vehicle to fly to a specified place.
10. The apparatus of claim 9, wherein the designated location is an initial position of the UAV at takeoff.
11. An electronic governor for controlling the operation of a motor, the electronic governor comprising an electrically connected motor controller and motor driver, both the motor controller and the motor driver being for electrical connection with the motor, the motor controller comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
12. An unmanned aerial vehicle, comprising:
a body;
the machine arm is arranged on the machine body;
the electronic governor that sets up on the fuselage and be used for controlling the operation of motor, the electronic governor is the electronic governor of claim 11.
13. A non-transitory computer-readable storage medium having stored thereon computer-executable instructions that, when executed by an unmanned aerial vehicle, cause the unmanned aerial vehicle to perform the method of any of claims 1-5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810501182.9A CN108445910B (en) | 2018-05-23 | 2018-05-23 | Method and device for controlling motor acceleration of unmanned aerial vehicle and electronic speed regulator |
| PCT/CN2018/109330 WO2019223211A1 (en) | 2018-05-23 | 2018-10-08 | Method and device for controlling acceleration of motor of unmanned aerial vehicle and electronic speed controller |
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| CN201810501182.9A CN108445910B (en) | 2018-05-23 | 2018-05-23 | Method and device for controlling motor acceleration of unmanned aerial vehicle and electronic speed regulator |
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| CN108445910B true CN108445910B (en) | 2020-10-23 |
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| CN108494305B (en) * | 2018-04-11 | 2020-03-06 | 深圳市道通智能航空技术有限公司 | Motor acceleration method and device, electronic speed regulator and unmanned aerial vehicle |
| CN108445910B (en) * | 2018-05-23 | 2020-10-23 | 深圳市道通智能航空技术有限公司 | Method and device for controlling motor acceleration of unmanned aerial vehicle and electronic speed regulator |
| CN109884943A (en) * | 2019-03-05 | 2019-06-14 | 广州极飞科技有限公司 | The malfunction monitoring method for early warning and unmanned vehicle of unmanned vehicle |
| CN112947353B (en) * | 2019-12-10 | 2022-06-21 | 广州极飞科技股份有限公司 | Method and device for determining fault reason of unmanned equipment |
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| JP3744641B2 (en) * | 1997-03-25 | 2006-02-15 | 西日本旅客鉄道株式会社 | Accident detection device |
| CN104986341B (en) * | 2015-06-04 | 2018-01-19 | 深圳一电航空技术有限公司 | aircraft anti-rollover method and device |
| CN104986339B (en) * | 2015-06-10 | 2017-03-01 | 浙江空行飞行器技术有限公司 | A kind of unmanned plane preventing from crashing |
| CN106114880A (en) * | 2016-06-29 | 2016-11-16 | 杨珊珊 | The system for prompting of a kind of unmanned vehicle air crash and method thereof |
| CN106428585A (en) * | 2016-10-28 | 2017-02-22 | 易瓦特科技股份公司 | Flight protection control method, controller and control system for unmanned air vehicle |
| CN108445910B (en) * | 2018-05-23 | 2020-10-23 | 深圳市道通智能航空技术有限公司 | Method and device for controlling motor acceleration of unmanned aerial vehicle and electronic speed regulator |
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