CN108466699B - Method and device for judging whether aircraft is provided with paddles, electric speed regulator, power system and aircraft - Google Patents

Method and device for judging whether aircraft is provided with paddles, electric speed regulator, power system and aircraft Download PDF

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CN108466699B
CN108466699B CN201810320593.8A CN201810320593A CN108466699B CN 108466699 B CN108466699 B CN 108466699B CN 201810320593 A CN201810320593 A CN 201810320593A CN 108466699 B CN108466699 B CN 108466699B
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aircraft
motor
current
state
peak value
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CN108466699A (en
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陈毅东
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Shenzhen Daotong Intelligent Software Development Co Ltd
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Shenzhen Daotong Intelligent Software Development Co Ltd
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Priority to PCT/CN2018/105294 priority patent/WO2019196330A1/en
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    • 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
    • B64D31/02—Initiating means
    • B64D31/06—Initiating means actuated automatically
    • B64D31/12—Initiating means actuated automatically for equalising or synchronising power plants
    • 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
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
    • B64C11/16—Blades
    • B64C11/20—Constructional features
    • B64C11/28—Collapsible or foldable blades
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/46—Blades
    • B64C27/473—Constructional features
    • B64C27/50—Blades foldable to facilitate stowage of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The embodiment of the invention relates to the technical field of aircrafts, and discloses a method and a device for judging whether an aircraft is provided with paddles, an electric speed regulator, a power system and an aircraft. Wherein the method comprises the following steps: when the aircraft is switched between states, acquiring a current waveform of a motor for driving the aircraft to switch between the states; and judging whether a motor of the aircraft is provided with a foldable propeller or not according to the current waveform. The method provides a method for judging whether the aircraft is provided with the foldable propeller or not according to the current waveform, and can avoid the aircraft from turning on one side and improve the flight safety of the aircraft.

Description

Method and device for judging whether aircraft is provided with paddles, electric speed regulator, power system and aircraft
Technical Field
The embodiment of the invention relates to the technical field of aircrafts, in particular to a method and a device for judging whether an aircraft is provided with paddles, an electric speed regulator, a power system and an aircraft.
Background
Most of the current aircraft, such as Unmanned Aerial Vehicles (UAVs), spacecraft, Unmanned ships, etc., generally control a motor through an electronic governor (abbreviated as an electric governor) to drive a propeller to rotate so as to realize motion control. Taking an unmanned aerial vehicle as an example, the unmanned aerial vehicle comprises 4 propellers, the propellers are connected with rotating shafts of motors, one propeller is installed on one motor, and each motor drives the corresponding propeller to rotate under the control of electric regulation so that the unmanned aerial vehicle can complete each specified action (or posture); moreover, for convenience of storage and space saving, the propeller is usually a foldable propeller. There are situations where the primary user or curiosity-laden user may lack one or more propellers mounted on the aircraft. If one or more propellers are rarely installed, the aircraft can turn over when the aircraft flies by electrically adjusting the push rod. And the side turning can cause the aircraft to be worn and even cause personal injury. Therefore, detecting whether an aircraft is propeller-equipped is critical to the flight of the aircraft. In the prior art, there is no method for detecting whether the aircraft is oar-carrying.
Disclosure of Invention
The invention mainly aims to provide a method and a device for judging whether an aircraft is provided with a propeller, an electric speed regulator, a power system and the aircraft, which can judge whether the aircraft is provided with a foldable propeller, so that the aircraft is prevented from turning on one side, and the flight safety of the aircraft is improved.
The embodiment of the invention discloses the following technical scheme:
in order to solve the technical problem, an embodiment of the present invention provides a method for determining whether an aircraft has a paddle, where the method includes:
when the aircraft is switched between states, acquiring a current waveform of a motor for driving the aircraft to switch between the states;
and judging whether a motor of the aircraft is provided with a foldable propeller or not according to the current waveform.
In some embodiments, the state of the aircraft includes a closed state when the propellers of the aircraft are folded and an open state when the propellers of the aircraft are unfolded;
the aircraft performing state switching comprises:
the aircraft is switched from a closed state to an open state; or,
the aircraft is switched from an open state to a closed state.
In some embodiments, the obtaining a current waveform of a motor driving the aircraft to perform state switching includes:
and acquiring a current peak value of the motor from the current waveform.
In some embodiments, said obtaining a current peak of said motor from said current waveform comprises:
obtaining reactive current and active current of the motor in the process of state switching of the aircraft;
and acquiring a current peak value of the motor from the current waveform according to the reactive current and the active current.
In some embodiments, said determining whether a motor of said aircraft is provided with a foldable propeller based on said current waveform comprises:
comparing a current peak value when the motor is in a stable stage with a preset current threshold value to obtain a first time and a second time, wherein the first time is the time when the current peak value is greater than the preset current threshold value, and the second time is the time when the current peak value is smaller than the preset current threshold value;
when the first number of times is larger than the second number of times, determining that the motor is provided with a foldable propeller; otherwise, determining that the motor does not have the foldable propeller.
In some embodiments, the operating state of the electric machine during the state switching of the aircraft includes: the motor comprises a first state and a second state, wherein the motor stably runs in the first state; in the second state, the motor comprises a speed change stage of speed change operation, a stable stage of stable operation and a deceleration stage of deceleration operation.
In some embodiments, the preset current threshold is a value determined according to a first peak-to-peak value and a second peak-to-peak value;
the first peak value is a current peak value detected in advance when the motor is in a stable stage under a paddle state;
and the second peak value is a current peak value when the motor is in a stable stage, which is detected in advance in a paddle-free state.
In some embodiments, the method further comprises:
determining a flag bit of the motor according to the first times and the second times, wherein the flag bit is used for representing whether the motor is provided with a paddle or not;
and sending a flight instruction according to the zone bit, wherein the flight instruction is used for controlling the aircraft to fly.
In order to solve the above technical problem, an embodiment of the present invention further provides a device for determining whether an aircraft has paddles, where the device includes:
the current waveform acquisition module is used for acquiring a current waveform of a motor for driving the aircraft to switch states when the aircraft switches states;
and the judging module is used for judging whether the motor of the aircraft is provided with a foldable propeller or not according to the current waveform.
In some embodiments, the state of the aircraft includes a closed state when the propellers of the aircraft are folded and an open state when the propellers of the aircraft are unfolded;
the aircraft performing state switching comprises:
the aircraft is switched from a closed state to an open state; or,
the aircraft is switched from an open state to a closed state.
In some embodiments, the current waveform obtaining module obtains a current waveform of a motor that drives the aircraft to perform state switching, including:
and acquiring a current peak value of the motor from the current waveform.
In some embodiments, the current waveform obtaining module obtains a current peak of the motor from the current waveform, including:
obtaining reactive current and active current of the motor in the process of state switching of the aircraft;
and acquiring a current peak value of the motor from the current waveform according to the reactive current and the active current.
In some embodiments, the determining module is specifically configured to:
comparing a current peak value when the motor is in a stable stage with a preset current threshold value to obtain a first time and a second time, wherein the first time is the time when the current peak value is greater than the preset current threshold value, and the second time is the time when the current peak value is smaller than the preset current threshold value;
when the first number of times is larger than the second number of times, determining that the motor is provided with a foldable propeller; otherwise, determining that the motor does not have the foldable propeller.
In some embodiments, the operating state of the electric machine during the state switching of the aircraft includes: the motor comprises a first state and a second state, wherein the motor stably runs in the first state; in the second state, the motor comprises a speed change stage of speed change operation, a stable stage of stable operation and a deceleration stage of deceleration operation.
In some embodiments, the preset current threshold is a value determined according to a first peak-to-peak value and a second peak-to-peak value;
the first peak value is a current peak value detected in advance when the motor is in a stable stage under a paddle state;
and the second peak value is a current peak value when the motor is in a stable stage, which is detected in advance in a paddle-free state.
In some embodiments, the apparatus further comprises:
the flag bit determining module is used for determining the flag bit of the motor according to the first times and the second times, wherein the flag bit is used for representing whether the motor is provided with a paddle or not;
and the flight instruction sending module is used for sending a flight instruction according to the zone bit, and the flight instruction is used for controlling the aircraft to fly.
In order to solve the above technical problem, an embodiment of the present invention further provides an electronic tilt, including:
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 cause the at least one processor to perform a method of determining whether an aircraft is feathered as described above.
In order to solve the above technical problem, an embodiment of the present invention further provides a power system, including:
a motor; and
the electric speed controller is electrically connected with the motor and used for judging whether the motor is provided with the foldable propeller or not and controlling the operation of the motor.
In order to solve the above technical problem, an embodiment of the present invention further provides an aircraft, including:
a body; and
the power system is arranged on the fuselage and used for providing flight power for the aircraft.
To solve the above technical problem, an embodiment of the present invention further provides a computer program product, where the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions, and when the program instructions are executed by a computer, the computer program instructions cause the electric tilt to execute the method for determining whether an aircraft has paddles as described above.
In order to solve the technical problem, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, where computer-executable instructions are stored, and the computer-executable instructions are configured to cause a computer to execute the method for determining whether an aircraft has paddles as described above.
The embodiment of the invention has the beneficial effects that: the method for judging whether the aircraft is provided with the foldable propeller or not according to the current waveform is different from the prior art, and can avoid the rollover of the aircraft and improve the flight safety of the aircraft.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle provided in an embodiment of the present invention;
fig. 2 is a connection block diagram of the power system of the drone shown in fig. 1;
FIG. 3 is a schematic flow chart illustrating a method for determining whether an aircraft is feathered according to one embodiment of the present invention;
FIG. 4 is a schematic diagram of the peak current value over time provided by an embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating a method for determining whether an aircraft is feathered according to another embodiment of the present invention;
FIG. 6 is a schematic diagram of an apparatus for determining whether an aircraft is equipped with paddles according to an embodiment of the invention;
FIG. 7 is a schematic diagram of an apparatus for determining whether an aircraft is equipped with paddles according to another embodiment of the invention;
fig. 8 is a schematic structural diagram of an electrical tilt hardware provided in an embodiment of the present invention;
FIG. 9 is a schematic illustration of a power system provided by an embodiment of the present invention;
FIG. 10 is a schematic illustration of an aircraft provided by an embodiment of the present invention;
FIG. 11 is a schematic illustration of another aircraft provided by 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 clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The method for judging whether the aircraft is provided with the paddles provided by the embodiment of the invention can be applied to various aircrafts, including but not limited to: unmanned aerial vehicles, spacecraft, unmanned ships, and the like. Now, the unmanned aerial vehicle is taken as an example for explanation. As shown in fig. 1, the drone 1 comprises a fuselage 101, a horn 102 and a power system 103. The horn 102 is connected with fuselage 101 an organic whole or fixed connection, and driving system 103 installs on horn 102 for provide flight power for unmanned aerial vehicle 1. Specifically, as shown in fig. 2, the power system 103 includes an electric power plant 1031, a motor 1032, and a propeller 1033. Electronic tilt 1031 is located in a cavity formed by the housing of horn 102 or fuselage 101. The electric regulation 1031 is electrically connected with a motor 1032, the motor 1032 is installed on the machine arm 102, and a rotating shaft of the motor 1032 is connected with a propeller 1033. The power system 103 enables the drone 1 to complete a prescribed flight mission. The specific process mainly comprises the following steps: the electric regulation 1031 sends a flight instruction to the motor 1032, and the rotation speed, the acceleration and the like of the motor 1032 are controlled through the flight instruction; after the motor 1032 receives the flight instruction, the propeller 1033 is driven, so that the propeller 1033 converts the rotation power of the motor 1032 into a force capable of moving the unmanned aerial vehicle 1, for example, a lift force or a thrust force for moving the unmanned aerial vehicle 1, and the unmanned aerial vehicle 1 completes a specified flight mission.
However, the situation that the first-time user or the user full of curiosity installs one or more propellers on an aircraft such as an unmanned aerial vehicle due to misoperation or curiosity exists, and if the one or more propellers are installed less, when the aircraft flies by sending a flight instruction through electric regulation, such as carrying out push rod operation, the aircraft can turn over. And the rollover can cause aircraft abrasion and the like, and even can cause unpredictable consequences such as personal injury and the like. Therefore, detecting whether an aircraft is propeller-equipped is critical to the flight of the aircraft. In the prior art, there is no method for detecting whether the aircraft is oar-carrying.
Therefore, in view of the above problems, the present invention provides a method and a device for determining whether an aircraft has a paddle, an electric speed regulator, a power system and an aircraft.
For propellers of aircrafts such as unmanned planes, foldable propellers are generally adopted in the market at present in order to increase the span of propeller blades as much as possible, but not increase the size of the aircrafts and facilitate the storage of the aircrafts. The motor is electrically controlled to drive the foldable propeller to open or close. Specifically, when the aircraft is used, the foldable propeller is driven to be opened through the electric speed regulation control motor, and when the aircraft is not used, the foldable propeller is driven to be closed through the electric speed regulation control motor. And the driving current of the corresponding motor is different for the case with or without paddles.
The invention is a method for judging whether an aircraft (such as an unmanned aerial vehicle) is provided with paddles based on the principle, and specifically, the idea of the invention is as follows: firstly, when the aircraft is switched between states, acquiring a current waveform of a motor for driving the aircraft to switch between the states; and then, judging whether a motor of the aircraft is provided with a foldable propeller or not according to the current waveform.
Whether a motor of the aircraft is provided with a foldable propeller or not is judged according to the current waveform, so that the problem that whether a method for detecting whether the aircraft is provided with the propeller or not is solved, whether the aircraft is provided with the foldable propeller or not is judged, the aircraft is prevented from turning on one side, and the flying safety of the aircraft is improved.
The embodiments of the present invention will be further explained with reference to the drawings.
Example 1:
the embodiment of the invention provides one embodiment of a method for judging whether an aircraft is provided with paddles. Fig. 3 is a schematic flowchart of a method for determining whether an aircraft has paddles according to an embodiment of the present invention. The method for judging whether the aircraft is provided with the paddles in one embodiment of the invention can be executed by the electric regulation of the aircraft (such as an unmanned aerial vehicle).
Referring to fig. 3, the method for determining whether the aircraft is provided with the paddles comprises the following steps:
301: and when the aircraft is switched between states, acquiring a current waveform of a motor for driving the aircraft to switch between the states.
Wherein the state of the aircraft includes a closed state and an open state. Specifically, the closed state of the aircraft is a state when the propeller of the aircraft is folded, and the open state is a state when the propeller of the aircraft is unfolded. The propeller of the aircraft is a foldable propeller, so that the size of the aircraft is not increased while the span of propeller blades is increased, and the aircraft is convenient to store. The foldable propeller is a propeller which can drive blades to be folded or unfolded through an electrically-controlled motor. The state when the propeller is folded refers to a state when an angle formed by the propeller blades and the central axis of the aircraft is smaller than a first preset angle, and the state when the propeller is unfolded refers to a state when an angle formed by the propeller blades and the central axis of the aircraft is larger than a second preset angle. The first preset angle and the second preset angle can be set in a user-defined mode according to user needs or according to flight standards of the aircraft, for example, the first preset angle can be 5 degrees, the first preset angle can be 85 degrees, and the like, and at this time, if an angle formed by propeller blades and a central axis of the aircraft is smaller than 5 degrees, the propeller of the aircraft is in a folded state; if the angle is greater than 85 °, the propeller of the aircraft is in the deployed state.
Further, the aircraft performing state switching comprises: the aircraft is switched from a closed state to an open state; alternatively, the aircraft is switched from an open state to a closed state. That is, the state of the propeller of the aircraft when folded is switched to the state when unfolded; or the state of the propeller of the aircraft when the propeller is unfolded is switched to the state when the propeller is folded.
For the electric regulation of the aircraft, the operation of judging whether the aircraft is provided with the propeller or not is usually not carried out, and the default aircraft is provided with the propeller in the control logic for controlling the flight of the aircraft by the electric regulation, so that no matter whether the aircraft is provided with the propeller or not, before the aircraft carries out a flight task, the electric regulation firstly sends a control instruction for starting the propeller to open to the motor so as to control the motor to drive the propeller of the aircraft to be switched from a folding state to an unfolding state, and in the process, the electric regulation can obtain the current of the motor in real time, namely obtain the current waveform of the motor in the process of driving the aircraft to be switched from a closing state to an opening state. The current waveform of the motor in the process of electrically tuning to obtain and drive the aircraft to be switched from the open state to the closed state is similar to the above process, and therefore, the details are not described herein.
The current waveform may be a current variation curve of a motor with time, and a current peak value of the motor may be obtained from the current waveform, specifically, the obtaining of the current waveform of the motor that drives the aircraft to perform state switching includes: and acquiring a current peak value of the motor from the current waveform. The current peak value refers to the maximum value of the motor current in one period in the process of switching the state of the aircraft. In some embodiments, other parameters of the motor may also be derived from the current waveform, such as the frequency of the motor's current during a state switch of the aircraft, etc. Further, the current waveform is a current waveform of a phase current of the motor. The method comprises the steps of obtaining a current waveform of a motor for driving the aircraft to switch states, namely obtaining the current of the motor in real time in the state switching process of the aircraft to obtain the current waveform, and obtaining a current peak value from the current waveform to obtain a curve of the current peak value changing along with time in the switching process.
Further, the obtaining a current peak value of the motor from the current waveform specifically includes: obtaining reactive current and active current of the motor in the process of state switching of the aircraft; and acquiring a current peak value of the motor from the current waveform according to the reactive current and the active current. The reactive current of the motor refers to the current with the current direction perpendicular to the voltage direction, and the active current of the motor refers to the current with the current direction parallel to the voltage direction. In the embodiment of the present invention, the reactive current and the active current of the motor may be obtained by any suitable manner, for example, by using an oscilloscope. And after the reactive current and the active current are obtained, determining the current peak value of the motor through a current peak value calculation formula. The current peak value calculation formula is as follows:
Figure BDA0001625177670000101
wherein, I1Is the current peak value; i isdIs a reactive current; i isqIs a reactive current.
302: and judging whether a motor of the aircraft is provided with a foldable propeller or not according to the current waveform.
The motor of the aircraft can generally adopt 2 (or more) acceleration and deceleration to drive the aircraft to carry out state switching, and corresponding current waveforms of the aircraft with the paddle and without the paddle are different, so that whether the motor of the aircraft is provided with the foldable propeller or not can be determined through the current waveforms.
The following specifically describes whether the electric speed regulator judges the motor of the aircraft to be provided with the foldable propeller according to the current waveform by taking 2 times of acceleration and deceleration as an example.
In the process of state switching of the aircraft, 2 times of acceleration and deceleration is adopted, and the current waveform obtained by electric regulation is approximately as shown in fig. 4. That is, fig. 4 is a schematic diagram of the current peak value changing with time during the state switching of the aircraft.
Wherein, in the process that the aircraft carries out state switching, the running state of motor includes: the motor comprises a first state and a second state, wherein the motor stably runs in the first state; in the second state, the motor includes a speed change phase in speed change operation, a stable phase in stable operation, and a deceleration phase in deceleration operation. Specifically, first, the motor is stably operated in a first state t0Time; then, the second state is entered, and the operation t is performed in the shift stage of the shift operation in the second state1After the time, operating t in a stable phase of the stable operation of the second state2Time of operation t in the deceleration phase of the deceleration operation in the second state3Time, wherein the variable speed operation comprises the steps of firstly accelerating, then stabilizing and then decelerating the motor; finally, the stable operation t of the first state is entered4And time, thereby driving the aircraft to complete the state switching. Wherein, t0、t1、t3、t4The length of each time shown in fig. 4 is not to be construed as a limitation to its specific time, as determined by the actual operation of the motor. It should be noted that, in the stable operation or the stable phase of the stable operation, the current peak value is not always stable and unchanged in the operation process, and in an actual situation, due to external interference and internal characteristics of the motor, the current peak value may fluctuate in the operation process, that is, the value of the current peak value changes in the stable phase of the stable operation.
In the embodiment of the present invention, it is,according to the current waveform, whether the motor of the aircraft has a foldable propeller or not is judged, and the method specifically comprises the following steps: comparing a current peak value when the motor is in a stable stage with a preset current threshold value to obtain a first time and a second time, wherein the first time is the time when the current peak value is greater than the preset current threshold value, and the second time is the time when the current peak value is smaller than the preset current threshold value; when the first number of times is larger than the second number of times, determining that the motor is provided with a foldable propeller; otherwise, determining that the motor does not have the foldable propeller. Wherein the motor in the stable phase corresponds to t in fig. 42And a stable stage of stable operation of the motor in time. By determining whether the aircraft is provided with the foldable propeller, the aircraft can be prevented from turning on one side due to the fact that the aircraft flies without the foldable propeller, and the flying safety of the aircraft is improved.
Due to external interference and the internal characteristics of the motor, under the actual condition, the value of the current peak value is changed to a certain extent in the stable stage of stable operation, so that the accuracy of judging whether the motor is provided with the foldable propeller is improved, and whether the motor is provided with the foldable propeller is determined through the first times and the second times. Specifically, the judgment formula is as follows:
Figure BDA0001625177670000121
wherein, I1Is the current peak value;
Figure BDA0001625177670000122
is a preset current threshold; n is a radical of1Is a first number; n is a radical of2The second number.
When the first time is N1Greater than the second number of times N2If so, determining that the motor is provided with a foldable propeller; otherwise, determining that the motor does not have the foldable propeller. For example, when the comparison yields a current peak I1Greater than a predetermined current threshold
Figure BDA0001625177670000123
Is 10 times, i.e. N110 and peak current value I1Less than a predetermined current threshold
Figure BDA0001625177670000124
Is 5, i.e. N2When 5, the motor can be determined to be provided with a foldable propeller.
Wherein the preset current threshold value
Figure BDA0001625177670000125
Is according to a first peak-to-peak value I'pp1And a second peak to peak value I'pp2The determined value. The first peak-to-peak value I'pp1The peak value of the current when the motor is in a stable stage is detected in advance under the state of paddle. The second peak value I'pp2The peak value of the current when the motor is in a stable stage is detected in advance under the paddle-free state. The pre-detection means that the electric tuning performs function test and the like on the aircraft after the aircraft is installed before executing a method for judging whether the aircraft is provided with paddles. For example, through multiple functional tests of the aircraft, the current peak value I 'of the motor in the stable stage when the foldable propeller is installed is obtained'pp1And the peak current value I 'of the motor in the stable stage when the foldable propeller is not installed'pp2Then the two current peak-to-peak values I 'are obtained'pp1、I′pp2Is pre-configured in the power conditioner to determine a preset current threshold.
Further, the formula for determining the preset current threshold is as follows:
Figure BDA0001625177670000131
wherein,
Figure BDA0001625177670000132
is a preset current threshold; i'pp1Is a first peak-to-peak value; i'pp2The second peak to peak value.
It should be noted that the above-mentioned 2 times of acceleration and deceleration are only for illustrative purposes and should not be construed as limiting the embodiments of the present invention. In some embodiments, any suitable number of accelerations and decelerations may be used to drive the aircraft to make a state transition, such as 3 or more.
The method for judging whether the aircraft is provided with the propeller is applied to the electric regulation, the electric regulation judges whether the motor of the aircraft is provided with the foldable propeller or not according to the current waveform so as to solve the problem that the method for detecting whether the aircraft is provided with the propeller or not in the prior art, and the method for judging whether the aircraft is provided with the foldable propeller or not can avoid the side turning of the aircraft caused by the fact that the aircraft flies without the propeller and improve the safety of the flight of the aircraft.
Example 2:
the embodiment of the invention provides another embodiment of the method for judging whether the aircraft is provided with the paddles. Fig. 5 is a schematic flowchart of a method for determining whether an aircraft has paddles according to another embodiment of the present invention. The method for judging whether the aircraft is provided with the paddles according to another embodiment of the invention can be executed by the electric regulation of the aircraft (such as an unmanned aerial vehicle).
Referring to fig. 5, the method for determining whether the aircraft is provided with the paddles comprises the following steps:
501: and when the aircraft is switched between states, acquiring a current waveform of a motor for driving the aircraft to switch between the states.
The state of the aircraft comprises a closed state and an open state, wherein the closed state is a state when a propeller of the aircraft is folded, and the open state is a state when the propeller of the aircraft is unfolded; the aircraft performing state switching comprises: the aircraft is switched from a closed state to an open state; alternatively, the aircraft is switched from an open state to a closed state.
The obtaining of the current waveform of the motor for driving the aircraft to perform state switching may include: and acquiring a current peak value of the motor from the current waveform. The current peak value refers to the maximum value of the motor current in one period in the process of switching the state of the aircraft. In some embodiments, other parameters of the motor may also be derived from the current waveform, such as the frequency of the motor's current during a state switch of the aircraft, etc. The current peak value refers to the maximum value of the motor current in one period in the process of switching the state of the aircraft. In some embodiments, other parameters of the motor may also be derived from the current waveform, such as the frequency of the motor's current during a state switch of the aircraft, etc. Further, the current waveform is a current waveform of a phase current of the motor. The method comprises the steps of obtaining a current waveform of a motor for driving the aircraft to switch states, namely obtaining the current of the motor in real time in the state switching process of the aircraft to obtain the current waveform, and obtaining a current peak value from the current waveform to obtain a curve of the current peak value changing along with time in the switching process.
Further, the obtaining a current peak value of the motor from the current waveform specifically includes: obtaining reactive current and active current of the motor in the process of state switching of the aircraft; and acquiring a current peak value of the motor from the current waveform according to the reactive current and the active current.
502: and judging whether a motor of the aircraft is provided with a foldable propeller or not according to the current waveform.
The judging whether the motor of the aircraft is provided with a foldable propeller or not according to the current waveform comprises the following steps: comparing a current peak value when the motor is in a stable stage with a preset current threshold value to obtain a first time and a second time, wherein the first time is the time when the current peak value is greater than the preset current threshold value, and the second time is the time when the current peak value is smaller than the preset current threshold value; when the first number of times is larger than the second number of times, determining that the motor is provided with a foldable propeller; otherwise, determining that the motor does not have the foldable propeller.
The preset current threshold value is a value determined according to a first peak-to-peak value and a second peak-to-peak value; the first peak value is a current peak value detected in advance when the motor is in a stable stage under a paddle state; and the second peak value is a current peak value when the motor is in a stable stage, which is detected in advance in a paddle-free state.
It should be noted that step 501 in the embodiment of the present invention is similar to step 301 in the embodiment described above, and step 502 is similar to step 502 in the embodiment described above, so that the description is omitted here. For technical details not described in detail in the steps 501-502 in the embodiment of the present invention, reference may be made to the detailed description of the steps 302-302 in the above embodiment.
503: and determining a flag bit of the motor according to the first times and the second times, wherein the flag bit is used for representing whether the motor is provided with a paddle or not.
In an embodiment of the present invention, the determining the flag bit of the motor according to the first number and the second number specifically includes: when the first time is N1Greater than the second number of times N2When the flag bit flag is 0, the motor is characterized to be provided with a foldable propeller; when the first time is N1Less than the second number of times N2And when the flag bit flag is 1, the motor is characterized not to be provided with the foldable propeller.
504: and sending a flight instruction according to the zone bit, wherein the flight instruction is used for controlling the aircraft to fly.
For an aircraft with 4 motors, only when judging that each motor in the 4 motors is provided with a foldable propeller, the electric tuning sends a flight instruction so that the aircraft completes a specified flight task according to the flight instruction; otherwise, no flight instruction is sent. For example, when flag of 4 motors is 0, the electric controller sends a flight instruction to the motors to make the aircraft fly; when the flag bit flag of the motor in the 4 motors is 1, the 4 motors are electrically controlled to be in a speed waiting state, and the flying of the aircraft is forbidden, so that the situation that the motor of the aircraft does not have a paddle but the aircraft flies is avoided, and the flying safety of the aircraft is improved.
The method for judging whether the aircraft is provided with the propeller is applied to the electric regulation, and the electric regulation judges whether the motor of the aircraft is provided with the foldable propeller or not according to the current waveform so as to solve the problem that the method for detecting whether the aircraft is provided with the propeller or not in the prior art.
Example 3:
the embodiment of the invention provides a device for judging whether an aircraft is provided with paddles. Fig. 6 is a schematic diagram of an apparatus for determining whether an aircraft has paddles according to an embodiment of the present invention. Wherein, the device for judging whether the aircraft is provided with the oar can be configured in the electric regulation of the aircraft (such as an unmanned aerial vehicle).
Referring to fig. 6, the device 60 for determining whether the aircraft is equipped with paddles comprises:
the current waveform obtaining module 601 is configured to obtain a current waveform of a motor that drives the aircraft to perform state switching when the aircraft performs state switching.
Wherein the state of the aircraft includes a closed state and an open state. Specifically, the closed state of the aircraft is a state when the propeller of the aircraft is folded, and the open state is a state when the propeller of the aircraft is unfolded. Further, the aircraft performing state switching comprises: the aircraft is switched from a closed state to an open state; alternatively, the aircraft is switched from an open state to a closed state. That is, the state of the propeller of the aircraft when folded is switched to the state when unfolded; or the state of the propeller of the aircraft when the propeller is unfolded is switched to the state when the propeller is folded.
The current waveform may be a curve of a current of the motor changing with time, and the current waveform obtaining module 601 obtains the current waveform of the motor driving the aircraft to perform state switching, including: and acquiring a current peak value of the motor from the current waveform.
Further, the current waveform obtaining module 601 obtains a current peak value of the motor from the current waveform, including: obtaining reactive current and active current of the motor in the process of state switching of the aircraft; and acquiring a current peak value of the motor from the current waveform according to the reactive current and the active current.
In the embodiment of the present invention, the current waveform obtaining module 601 may obtain the reactive current and the active current of the motor in any suitable manner, for example, the current waveform obtaining module 601 receives the reactive current and the active current collected by an oscilloscope, so as to obtain the reactive current and the active current. After the reactive current and the active current are obtained by the current waveform obtaining module 601, the current peak value of the motor can be determined through a current peak value calculation formula.
And the judging module 602 is configured to judge whether a motor of the aircraft has a foldable propeller according to the current waveform.
The motor of the aircraft may typically use 2 (or more) accelerations and decelerations to drive the aircraft for state switching, and the corresponding current waveforms are different for the case of the aircraft with and without paddles, so the determining module 602 may determine whether the motor of the aircraft has a foldable propeller or not through the current waveforms.
Wherein, in the process that the aircraft carries out state switching, the running state of motor includes: the motor comprises a first state and a second state, wherein the motor stably runs in the first state; in the second state, the motor includes a speed change phase in speed change operation, a stable phase in stable operation, and a deceleration phase in deceleration operation. It should be noted that, in the stable operation or the stable phase of the stable operation, the current peak value is not always stable and unchanged in the operation process, and in an actual situation, due to external interference and internal characteristics of the motor, the current peak value may fluctuate in the operation process, that is, the value of the current peak value changes in the stable phase of the stable operation.
Further, the determining module 602 is specifically configured to: comparing a current peak value when the motor is in a stable stage with a preset current threshold value to obtain a first time and a second time, wherein the first time is the time when the current peak value is greater than the preset current threshold value, and the second time is the time when the current peak value is smaller than the preset current threshold value; when the first number of times is larger than the second number of times, determining that the motor is provided with a foldable propeller; otherwise, determining that the motor does not have the foldable propeller.
Wherein the motor in the stable phase corresponds to t in fig. 42And a stable stage of stable operation of the motor in time. Whether the aircraft is provided with the foldable propeller or not is determined through the judgment module 602, so that the situation that the aircraft is turned on one side due to the fact that the aircraft flies without the foldable propeller can be avoided, and the flying safety of the aircraft is improved.
Due to external interference and internal characteristics of the motor, in an actual situation, a value of a current peak value changes to a certain extent in a stable stage of stable operation, and therefore, in order to improve accuracy of judging whether the motor is provided with the foldable propeller, the judging module 602 may determine whether the motor is provided with the foldable propeller through the first number of times and the second number of times. Specifically, when the first number of times N1Greater than the second number of times N2If so, the determining module 602 determines that the motor has a foldable propeller; otherwise, the decision block 602 determines that the motor does not have a foldable propeller.
Wherein the preset current threshold value
Figure BDA0001625177670000181
Is according to a first peak-to-peak value I'pp1And a second peak to peak value I'pp2The determined value. The first peak-to-peak value I'pp1The peak-to-peak current value of the motor in the steady state is detected in advance by the determining module 602 in the paddle state. The second peak value I'pp2The judgment module 602 detects a peak-to-peak current value of the motor in a stable phase in advance in the no-paddle state. The preliminary detection meansBefore the method for judging whether the aircraft is provided with the paddles is executed, the electric tuning carries out the function test of the aircraft after the aircraft is installed, and the like. For example, through multiple functional tests of the aircraft, the current peak value I 'of the motor in the stable stage when the foldable propeller is installed is obtained'pp1And the peak current value I 'of the motor in the stable stage when the foldable propeller is not installed'pp2Then the two current peak-to-peak values I 'are obtained'pp1、I′pp2Is preconfigured in electric modulation so that the judging module 602 is according to the first peak-to-peak value I'pp1And the second peak-to-peak value I'pp2A preset current threshold is determined.
Further, the formula for determining the preset current threshold by the determining module 602 is as follows:
Figure BDA0001625177670000182
wherein,
Figure BDA0001625177670000183
is a preset current threshold; i'pp1Is a first peak-to-peak value; i'pp2The second peak to peak value.
It should be noted that, in the embodiment of the present invention, the device 60 for judging whether the aircraft has the paddles may execute the method for judging whether the aircraft has the paddles provided in embodiment 1 of the present invention, and has corresponding functional modules and beneficial effects of the execution method. Technical details that are not described in detail in the embodiment of the device 60 for determining whether an aircraft is equipped with paddles can be referred to the method for determining whether an aircraft is equipped with paddles provided in embodiment 1 of the present invention.
Example 4:
the embodiment of the invention provides a device for judging whether an aircraft is provided with paddles. Fig. 7 is a schematic diagram of an apparatus for determining whether an aircraft has paddles according to an embodiment of the present invention. The device 70 for determining whether the aircraft has paddles may be configured in the electrical tuning of the aircraft (such as an unmanned aerial vehicle).
Referring to fig. 7, the device 70 for determining whether the aircraft is equipped with paddles comprises:
and a current waveform obtaining module 701, configured to obtain a current waveform of a motor that drives the aircraft to perform state switching when the aircraft performs state switching.
Wherein the state of the aircraft includes a closed state and an open state. Specifically, the closed state of the aircraft is a state when the propeller of the aircraft is folded, and the open state is a state when the propeller of the aircraft is unfolded. Further, the aircraft performing state switching comprises: the aircraft is switched from a closed state to an open state; alternatively, the aircraft is switched from an open state to a closed state. That is, the state of the propeller of the aircraft when folded is switched to the state when unfolded; or the state of the propeller of the aircraft when the propeller is unfolded is switched to the state when the propeller is folded.
The current waveform may be a time-varying curve of the current of the motor, and the current waveform obtaining module 701 obtains the current waveform of the motor that drives the aircraft to perform state switching, including: and acquiring a current peak value of the motor from the current waveform.
Further, the current waveform obtaining module 701 obtains a current peak value of the motor from the current waveform, including: obtaining reactive current and active current of the motor in the process of state switching of the aircraft; and acquiring a current peak value of the motor from the current waveform according to the reactive current and the active current. In the embodiment of the present invention, the current waveform obtaining module 701 may obtain the reactive current and the active current of the motor in any suitable manner, for example, the current waveform obtaining module 701 receives the reactive current and the active current collected by an oscilloscope, so as to obtain the reactive current and the active current. After the reactive current and the active current are obtained by the current waveform obtaining module 701, the current peak value of the motor can be determined through a current peak value calculation formula.
And the judging module 702 is configured to judge whether the motor of the aircraft has a foldable propeller according to the current waveform.
The motor of the aircraft may typically use 2 (or more) accelerations and decelerations to drive the aircraft for state switching, and the corresponding current waveforms are different for the case of the aircraft with and without paddles, so the determining module 702 may determine whether the motor of the aircraft has a foldable propeller or not through the current waveforms.
Wherein, in the process that the aircraft carries out state switching, the running state of motor includes: the motor comprises a first state and a second state, wherein the motor stably runs in the first state; in the second state, the motor includes a speed change phase in speed change operation, a stable phase in stable operation, and a deceleration phase in deceleration operation. It should be noted that, in the stable operation or the stable phase of the stable operation, the current peak value is not always stable and unchanged in the operation process, and in an actual situation, due to external interference and internal characteristics of the motor, the current peak value may fluctuate in the operation process, that is, the value of the current peak value changes in the stable phase of the stable operation.
Further, the determining module 702 is specifically configured to: comparing a current peak value when the motor is in a stable stage with a preset current threshold value to obtain a first time and a second time, wherein the first time is the time when the current peak value is greater than the preset current threshold value, and the second time is the time when the current peak value is smaller than the preset current threshold value; when the first number of times is larger than the second number of times, determining that the motor is provided with a foldable propeller; otherwise, determining that the motor does not have the foldable propeller.
Wherein the motor in the stable phase corresponds to t in fig. 42And a stable stage of stable operation of the motor in time. Whether the aircraft is provided with the foldable propeller or not is determined by the judgment module 702, so that the situation that the aircraft is turned on one side due to the fact that the aircraft flies without the foldable propeller can be avoided, and the flying safety of the aircraft is improved.
Under the actual condition, the current is caused by the external interference and the internal characteristics of the motorThe peak value has a certain variation in the stable phase of the stable operation, and therefore, in order to improve the accuracy of determining whether the motor has the foldable propeller, the determining module 702 may determine whether the motor has the foldable propeller according to the first number and the second number. Specifically, when the first number of times N1Greater than the second number of times N2If so, the determining module 702 determines that the motor has a foldable propeller; otherwise, the decision block 702 determines that the motor does not have a foldable propeller.
Wherein the preset current threshold value
Figure BDA0001625177670000201
Is according to a first peak-to-peak value I'pp1And a second peak to peak value I'pp2The determined value. The first peak-to-peak value I'pp1The peak value of the current when the motor is in a stable stage is detected in advance by the determining module 702 in a state with paddles. The second peak value I'pp2The judgment module 702 is used for detecting the peak-to-peak current value of the motor in the stable stage in advance in the no-paddle state. The pre-detection means that the electric tuning performs function test and the like on the aircraft after the aircraft is installed before executing a method for judging whether the aircraft is provided with paddles. For example, through multiple functional tests of the aircraft, the current peak value I 'of the motor in the stable stage when the foldable propeller is installed is obtained'pp1And the peak current value I 'of the motor in the stable stage when the foldable propeller is not installed'pp2Then the two current peak-to-peak values I 'are obtained'pp1、I′pp2Preconfigured in electrical tuning such that determining module 702 is based on the first peak-to-peak value I'pp1And the second peak-to-peak value I'pp2A preset current threshold is determined.
Further, the formula for determining the preset current threshold by the determining module 702 is as follows:
Figure BDA0001625177670000211
wherein,
Figure BDA0001625177670000212
is a preset current threshold; i'pp1Is a first peak-to-peak value; i'pp2The second peak to peak value.
A flag bit determining module 703, configured to determine a flag bit of the motor according to the first number and the second number, where the flag bit is used to indicate whether the motor has a paddle.
In this embodiment of the present invention, the flag determining module 703 determines, according to the first number and the second number, the flag of the motor specifically as follows: when the first time is N1Greater than the second number of times N2When the flag bit flag is 0, the motor is characterized to be provided with a foldable propeller; when the first time is N1Less than the second number of times N2And when the flag bit flag is 1, the motor is characterized not to be provided with the foldable propeller.
And a flight instruction sending module 704, configured to send a flight instruction according to the flag bit, where the flight instruction is used to control the aircraft to fly.
For an aircraft with 4 motors, the flight instruction sending module 704 sends a flight instruction only when judging that each motor in the 4 motors is provided with a foldable propeller, so that the aircraft completes a specified flight task according to the flight instruction; otherwise, the flight command sending module 704 does not send the flight command. For example, when flag of flag bits of 4 motors is equal to 0, the flight instruction sending module 704 sends a flight instruction to the motors to make the aircraft fly; when the flag bit flag of the motor in the 4 motors is 1, the flight instruction sending module 704 controls the 4 motors to be in a speed waiting state, and prohibits the aircraft from flying, so that the situation that the motor of the aircraft does not have a paddle but the aircraft flies is avoided, and the flying safety of the aircraft is improved.
It should be noted that, in the embodiment of the present invention, the device 70 for judging whether the aircraft has the paddles may execute the method for judging whether the aircraft has the paddles provided in embodiment 2 of the present invention, and has corresponding functional modules and beneficial effects of the execution method. Technical details that are not described in detail in the embodiment of the device 70 for determining whether an aircraft is provided with paddles can be referred to the method for determining whether an aircraft is provided with paddles provided in embodiment 2 of the present invention.
Example 5:
fig. 8 is a schematic structural diagram of an electrical tilt hardware provided in an embodiment of the present invention, and as shown in fig. 8, the electrical tilt 80 includes:
one or more processors 801 and a memory 802, one processor 801 being illustrated in fig. 8.
The processor 801 and the memory 802 may be connected by a bus or other means, such as by a bus in fig. 8.
Memory 802, 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/modules corresponding to the method for determining whether an aircraft is feathered in an embodiment of the present invention (e.g., current waveform obtaining module 701, determining module 702, flag bit determining module 703, and flight instruction sending module 704 shown in fig. 7). The processor 801 executes various functional applications of the electrical tilt and data processing by running the nonvolatile software programs, instructions and modules stored in the memory 802, that is, implements the method for determining whether the aircraft has paddles according to the embodiment of the method.
The memory 802 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 according to the electric power usage, and the like. Further, the memory 802 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 802 optionally includes memory located remotely from processor 801, which may be connected to electronic modems 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 modules are stored in the memory 802, and when executed by the one or more processors 801, perform the method for determining whether the aircraft is equipped with paddles in any of the method embodiments 1 and/or 2, for example, perform the method steps 501 to 504 in fig. 5 described above, and implement the functions of the module 701 and 704 in fig. 7.
The electric tilt can execute the method for judging whether the aircraft has the paddles provided by the embodiment 1 and/or the embodiment 2 of the invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in the electrical tuning embodiment, reference may be made to the method for determining whether the aircraft has the paddles provided in embodiment 1 and/or embodiment 2 of the present invention.
Embodiments of the present invention provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by the electrical power, cause a computer to perform the method of determining whether an aircraft is feathered, as described above. For example, the above-described method steps 501 to 504 in fig. 5 are executed to implement the functions of the modules 701 and 704 in fig. 7.
The embodiment of the invention provides a non-volatile computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a computer, the computer-executable instructions enable the electric tilt to execute the method for judging whether an aircraft is provided with paddles or not. For example, the above-described method steps 501 to 504 in fig. 5 are executed to implement the functions of the modules 701 and 704 in fig. 7.
Example 6:
referring to fig. 9, an embodiment of the invention provides a power system. The power system 90 comprises a motor 91 and the electric speed controller 80, wherein the electric speed controller 80 is electrically connected with the motor 91 and is used for judging whether the motor 91 is provided with a foldable propeller and controlling the operation of the motor 91.
Referring to fig. 10, an aircraft is further provided in the embodiment of the present invention. The aircraft 100 includes a fuselage 1001 and the power system 90 described above, and the power system 90 is mounted on the fuselage 1001 for providing flight power to the aircraft 100.
Referring to fig. 11, an embodiment of the invention further provides another aircraft. The aircraft 110 includes:
a center housing 1101;
a horn 1102 connected to the center housing;
a motor 1103 connected to the horn;
and the electric controller 80 is electrically connected with the motor 1103, and the electric controller 80 is used for executing all or part of the steps of the method for judging whether the aircraft is provided with the paddles shown in fig. 3 or fig. 5. This electricity accent 80 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 cause the at least one processor to perform a method of determining whether an aircraft is feathered as shown in any of the above exemplary embodiments.
It should be noted that the above-described device embodiments are merely illustrative, wherein the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a general hardware platform, and may also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes in the methods for implementing the embodiments may be implemented by hardware associated with computer program instructions, and the programs may be stored in a computer readable storage medium, and when executed, may include processes of the embodiments of the methods as described. The storage medium may be a Read-Only Memory (ROM) or a Random Access Memory (RAM).
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will 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 invention.

Claims (15)

1. A method of determining whether an aircraft is feathered, the method comprising:
when the aircraft is switched between states, acquiring a current waveform of a motor for driving the aircraft to switch between the states; the acquiring of the current waveform of the motor for driving the aircraft to perform state switching includes:
acquiring a current peak value of the motor from the current waveform;
judging whether a motor of the aircraft is provided with a foldable propeller or not according to the current waveform;
the judging whether the motor of the aircraft is provided with a foldable propeller or not according to the current waveform comprises the following steps:
comparing the current peak value when the motor is in a stable stage with a preset current threshold value to obtain a first time and a second time, wherein the first time is the time when the current peak value is greater than the preset current threshold value, and the second time is the time when the current peak value is smaller than the preset current threshold value;
when the first number of times is larger than the second number of times, determining that the motor is provided with a foldable propeller; otherwise, determining that the motor does not have the foldable propeller.
2. The method of claim 1, wherein the state of the aircraft comprises a closed state when the propellers of the aircraft are folded and an open state when the propellers of the aircraft are unfolded;
the aircraft performing state switching comprises:
the aircraft is switched from a closed state to an open state; or,
the aircraft is switched from an open state to a closed state.
3. The method of claim 2, wherein said deriving a current peak of said motor from said current waveform comprises:
obtaining reactive current and active current of the motor in the process of state switching of the aircraft;
and acquiring a current peak value of the motor from the current waveform according to the reactive current and the active current.
4. The method of claim 3, wherein the operating state of the electric machine during the state transition of the aircraft comprises: the motor comprises a first state and a second state, wherein the motor stably runs in the first state; in the second state, the motor comprises a speed change stage of speed change operation, a stable stage of stable operation and a deceleration stage of deceleration operation.
5. The method of claim 3, wherein the predetermined current threshold is a value determined according to a first peak-to-peak value and a second peak-to-peak value;
the first peak value is a current peak value detected in advance when the motor is in a stable stage under a paddle state;
and the second peak value is a current peak value when the motor is in a stable stage, which is detected in advance in a paddle-free state.
6. The method according to any one of claims 3-5, further comprising:
determining a flag bit of the motor according to the first times and the second times, wherein the flag bit is used for representing whether the motor is provided with a paddle or not;
and sending a flight instruction according to the zone bit, wherein the flight instruction is used for controlling the aircraft to fly.
7. An apparatus for determining whether an aircraft is equipped with a paddle, the apparatus comprising:
the current waveform acquisition module is used for acquiring a current waveform of a motor for driving the aircraft to switch states when the aircraft switches states; the current waveform acquisition module acquires a current waveform of a motor for driving the aircraft to switch states, and the current waveform acquisition module comprises:
acquiring a current peak value of the motor from the current waveform;
the judging module is used for judging whether a motor of the aircraft is provided with a foldable propeller or not according to the current waveform; the judgment module is specifically configured to:
comparing a current peak value when the motor is in a stable stage with a preset current threshold value to obtain a first time and a second time, wherein the first time is the time when the current peak value is greater than the preset current threshold value, and the second time is the time when the current peak value is smaller than the preset current threshold value;
when the first number of times is larger than the second number of times, determining that the motor is provided with a foldable propeller; otherwise, determining that the motor does not have the foldable propeller.
8. The apparatus of claim 7, wherein the state of the aircraft includes a closed state when the propeller of the aircraft is in a folded state and an open state when the propeller of the aircraft is in an unfolded state;
the aircraft performing state switching comprises:
the aircraft is switched from a closed state to an open state; or,
the aircraft is switched from an open state to a closed state.
9. The apparatus of claim 8, wherein the current waveform obtaining module obtains a current peak of the motor from the current waveform, comprising:
obtaining reactive current and active current of the motor in the process of state switching of the aircraft;
and acquiring a current peak value of the motor from the current waveform according to the reactive current and the active current.
10. The apparatus of claim 9, wherein the operating state of the motor during the state switching of the aircraft comprises: the motor comprises a first state and a second state, wherein the motor stably runs in the first state; in the second state, the motor comprises a speed change stage of speed change operation, a stable stage of stable operation and a deceleration stage of deceleration operation.
11. The apparatus of claim 9, wherein the predetermined current threshold is a value determined according to a first peak-to-peak value and a second peak-to-peak value;
the first peak value is a current peak value detected in advance when the motor is in a stable stage under a paddle state;
and the second peak value is a current peak value when the motor is in a stable stage, which is detected in advance in a paddle-free state.
12. The apparatus according to any one of claims 10-11, further comprising:
the flag bit determining module is used for determining the flag bit of the motor according to the first times and the second times, wherein the flag bit is used for representing whether the motor is provided with a paddle or not;
and the flight instruction sending module is used for sending a flight instruction according to the zone bit, and the flight instruction is used for controlling the aircraft to fly.
13. An electrical tilt, 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 1-6.
14. A power system, comprising:
a motor; and
the electrical tilt of claim 13 electrically connected to the motor for determining whether the motor has a foldable propeller and for controlling operation of the motor.
15. An aircraft, characterized in that it comprises:
a body; and
the power system of claim 14 mounted on the fuselage for providing flight power to the aircraft.
CN201810320593.8A 2018-04-11 2018-04-11 Method and device for judging whether aircraft is provided with paddles, electric speed regulator, power system and aircraft Active CN108466699B (en)

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