CN108572670A - A kind of control device and control method of motor speed - Google Patents
A kind of control device and control method of motor speed Download PDFInfo
- Publication number
- CN108572670A CN108572670A CN201810586931.2A CN201810586931A CN108572670A CN 108572670 A CN108572670 A CN 108572670A CN 201810586931 A CN201810586931 A CN 201810586931A CN 108572670 A CN108572670 A CN 108572670A
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- China
- Prior art keywords
- control device
- data processing
- processing chip
- motor
- motor driver
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
Abstract
This application discloses a kind of control device of motor speed and control methods.The device includes：Fly control device, controller local area network's can bus chips, data processing chip, motor driver；Wherein, the winged control device is coupled by the can bus chips and the data processing chip, the data processing chip is coupled with the motor driver, since can bus chips have higher anti-interference ability, and high stability, therefore after using above-mentioned design, can to fly the communication between control device and data processing chip by smaller interference, ensure that fly control device and data processing chip between communication instruction, to be conducive to improve unmanned plane control accuracy.
Description
Technical field
This application involves the communications fields, in particular to the control device and control method of a kind of motor speed.
Background technology
In unmanned plane field, user needs more accurately to control unmanned plane, but in unmanned plane intercommunication
Process, can be interfered by the external world or internal components between mutually generate interference so that the control of unmanned plane is accurate
Spend relatively low, to this, currently no effective solution has been proposed.
Invention content
The main purpose of the application is to provide a kind of control device and control method of motor speed, to solve unmanned plane
Control the relatively low problem of accuracy.
To achieve the goals above, according to the one side of the application, a kind of control device of motor speed, institute are provided
Stating control device includes：
Fly control device, controller local area network's can bus chips, data processing chip, motor driver；
Wherein, the winged control device is coupled by the can bus chips and the data processing chip, at the data
Chip is managed to couple with the motor driver.
Optionally, the data processing chip is coupled by the can bus chips and the motor driver.
Optionally, the control device further includes：
Harvester for acquiring electron speed regulator current angular and current angular velocity；
Wherein, the harvester is coupled with the data processing chip.
Optionally, the harvester includes：
ICM three axis accelerometers and gyroscope.
Optionally, harvester motor corresponding with the motor driver is arranged on same carrier.
Optionally, the control device further includes：
Hall effect sensor for the magnetic direction for acquiring motor corresponding with the motor driver；
Wherein, the hall effect sensor is coupled with the data processing chip.
Optionally, the control device further includes：
The light emitting diode of at least one current state for electronic device where showing the control device, the hair
Optical diode is coupled with the data processing chip.
Optionally, the data processing chip is stm32f3 main process task chips.
Optionally, the motor driver is three-phase gate drivers.
To achieve the goals above, according to the another aspect of the application, a kind of control method of motor speed is provided, is answered
For control device described in any one of the above embodiments, the method includes：
Data processing chip is received by controller local area network's can bus chips flies the pulse width tune that control device is sent
PWM instructions processed, wherein the PWM instructions are used to indicate the rotating speed of the corresponding motor of motor driver；
The data processing chip is instructed according to the PWM, generates corresponding current signal；
The current signal is sent to the motor driver by the data processing chip；
The motor driver is according to the current signal to the motor output current.
The technical solution that embodiments herein provides can include the following benefits：
In the embodiment of the present application, due to flying to couple using can bus chips between control device and data processing chip, and
And since can bus chips have a higher anti-interference ability, and high stability, therefore after using above-mentioned design can be with
So that the communication between winged control device and data processing chip ensure that by smaller interference and fly control device and data processing core
Communication instruction between piece, to be conducive to improve unmanned plane control accuracy, simultaneously because can bus chips have compared with
High data transmission efficiency, so as to improve the data transmission bauds flown between control device and data processing chip, thus into
One step is conducive to improve the accuracy of the control of unmanned plane.
Description of the drawings
The attached drawing constituted part of this application is used for providing further understanding of the present application so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings：
Fig. 1 is a kind of structural schematic diagram of the control device of motor speed provided by the present application；
Fig. 2 is the structural schematic diagram of the control device of another motor speed provided by the present application；
Fig. 3 is the structural schematic diagram of the control device of another motor speed provided by the present application；
Fig. 4 is the structural schematic diagram of the control device of another motor speed provided by the present application；
Fig. 5 is the structural schematic diagram of the control device of another motor speed provided by the present application；
Fig. 6 is a kind of flow diagram of the control method of motor speed provided by the present application.
Specific implementation mode
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, technical solutions in the embodiments of the present application are clearly and completely described, it is clear that described embodiment is only
The embodiment of the application part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model of the application protection
It encloses.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so as to embodiments herein described herein.In addition, term " comprising " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit
Process, method, system, product or equipment those of are not necessarily limited to clearly to list step or unit, but may include without clear
It is listing to Chu or for these processes, method, product or equipment intrinsic other steps or unit.
In this application, term "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on ... shown in the drawings or
Position relationship.These terms are not intended to limit indicated dress primarily to preferably describe the application and embodiment
It sets, element or component must have particular orientation, or be constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term "upper" also are likely used for indicating certain relations of dependence or connection relation in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；Can be mechanical connection, or electrical connection；It can be direct phase
Even, or indirectly connected through an intermediary, or it is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is a kind of structural schematic diagram of the control device of motor speed provided by the present application, as shown in Figure 1, the control
Device includes：
Fly control device 11, can (Controller Area Network, controller local area network) bus chip 12, data
Processing chip 13, motor driver 14；
Wherein, the winged control device 11 is coupled by the can bus chips 12 and the data processing chip 13, described
Data processing chip 13 is coupled with the motor driver 14.
Specifically, as shown in Figure 1, in the embodiment of the present application, being controlled between device 11 and data processing chip 13 due to winged
It is coupled using can bus chips 12, and since can bus chips 12 have higher anti-interference ability, and high stability,
Therefore after using above-mentioned design, it can to fly the communication between control device 11 and data processing chip 13 and be done by smaller
It disturbs, ensure that the communication instruction flown between control device 11 and data processing chip 13, to be conducive to improve the control of unmanned plane
Accuracy, simultaneously because can bus chips 12 have higher data transmission efficiency, so as to improve fly control device 11 with
Data transmission bauds between data processing chip 13, to further be conducive to improve the accuracy of the control of unmanned plane.
In a feasible embodiment, Fig. 2 is the knot of the control device of another motor speed provided by the present application
Structure schematic diagram, as shown in Fig. 2, the data processing chip 13 passes through the can bus chips 12 and the motor driver 14
Coupling.
Specifically, as shown in Fig. 2, since can bus chips 12 are with the high spy of strong antijamming capability, data transmission efficiency
Therefore property when data processing chip 13 and motor driver 14 are coupled by can bus chips 12, can make motor drive
Dynamic communication between device 14 and data processing chip 13 is by smaller interference, and can improve motor driver 14 and data
Data transmission bauds between processing chip 13, so as to be further conducive to improve unmanned plane control accuracy.
In a feasible embodiment, Fig. 3 is the knot of the control device of another motor speed provided by the present application
Structure schematic diagram, as shown in figure 3, the control device further includes：For acquiring electron speed regulator current angular and current angular velocity
Harvester 15；Wherein, the harvester 15 is coupled with the data processing chip 13.
Specifically, as shown in figure 3, after harvester 15 collects the current angle of electron speed regulator and angular speed, incite somebody to action
The angle and angular speed are transferred to data processing chip 13, which determines and electricity according to the angle and angular speed
The vibration amplitude of 14 corresponding motor of machine driver, and after vibration amplitude is more than formulation amplitude, determine that the motor is in not
Normal working condition, and alarm can be sent out.
It should be noted that the motor in the application can make brshless DC motor, can also be hall electric machine, specifically
Motor type is not specifically limited herein.
In a feasible embodiment, as shown in figure 3, harvester 15 includes ICM three axis accelerometers and gyro
Instrument, wherein ICM three axis accelerometers are for acquiring the current angular speed of electron speed regulator, and gyroscope is for acquiring electronic speed regulation
The current angle of device.
In a feasible embodiment, harvester motor corresponding with the motor driver is arranged same
On one carrier.
Specifically, after using above-mentioned design, electron speed regulator current angular that harvester can be made to acquire and current
Angular speed is more accurate, so that the definitive result of data processing chip is more accurate.
In a feasible embodiment party, Fig. 4 is the structure of the control device of another motor speed provided by the present application
Schematic diagram, as shown in figure 4, the control device further includes：
Hall effect sensor 16 for the magnetic direction for acquiring motor corresponding with the motor driver 14；Its
In, the hall effect sensor 16 is coupled with the data processing chip 13.
Specifically, as shown in figure 4, hall effect sensor 16 is acquiring motor corresponding with the motor driver 14
After magnetic direction, which is sent to data processing chip 13, data processing chip 13 is determined according to the magnetic direction
The compensation electric current of motor, so that the rotating speed of motor is closer to rotating speed of target.
In a feasible embodiment, Fig. 5 is the knot of the control device of another motor speed provided by the present application
Structure schematic diagram, as shown in figure 5, the control device further includes：It is at least one to be filled for electronics where showing the control device
The light emitting diode 17 for the current state set, the light emitting diode 17 are coupled with the data processing chip 13.
Specifically, as shown in figure 5, data processing chip 13 can acquire the current state of electron speed regulator, and according to this
Current state controls lumination of light emitting diode 17, for example, when electron speed regulator irregular working, data processing chip 13 can
It is glowed with controlling light emitting diode 17, when electron speed regulator works normally, data processing chip 13 can control luminous two
17 green light of pole pipe, specific display mode are not specifically limited herein.
In a feasible embodiment, as shown in Figure 1, the data processing chip 13 is stm32f3 main process task cores
Piece.
Specifically, stm32f3 main process tasks chip can run the framework of real time operating system and a set of opening, can allow
Customized function is added, and supports software upgrading, is conducive to the upgrading of UAV system.
In a feasible embodiment, as shown in Figure 1, the motor driver 14 is three-phase gate drivers.
In a feasible embodiment, Fig. 1 to control device shown in fig. 5 can be arranged on electron speed regulator,
The electron speed regulator can be arranged on unmanned plane.
Fig. 6 is a kind of flow diagram of the control method of motor speed provided by the present application, as shown in fig. 6, this method
Applied to above-mentioned Fig. 1 to control device shown in fig. 5, this approach includes the following steps：
601, data processing chip is received by controller local area network's can bus chips flies the PWM that control device is sent
(Pulse Width Modulation, pulse width modulation) instruction, wherein the PWM instructions are used to indicate motor driver
The rotating speed of corresponding motor.
602, the data processing chip is instructed according to the PWM, generates corresponding current signal.
603, the current signal is sent to the motor driver by the data processing chip.
604, the motor driver according to the current signal to the motor output current.
In the embodiment of the present application, due to flying to couple using can bus chips between control device and data processing chip, and
And since can bus chips have a higher anti-interference ability, and high stability, therefore after using above-mentioned design can be with
So that the communication between winged control device and data processing chip ensure that by smaller interference and fly control device and data processing core
Communication instruction between piece, to be conducive to improve unmanned plane control accuracy, simultaneously because can bus chips have compared with
High data transmission efficiency, so as to improve the data transmission bauds flown between control device and data processing chip, thus into
One step is conducive to improve the accuracy of the control of unmanned plane.
The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field
For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. a kind of control device of motor speed, which is characterized in that the control device includes：
Fly control device, controller local area network's can bus chips, data processing chip, motor driver；
Wherein, the winged control device is coupled by the can bus chips and the data processing chip, the data processing core
Piece is coupled with the motor driver.
2. control device as claimed in claim 2, which is characterized in that the data processing chip passes through the total cores of the can
Piece is coupled with the motor driver.
3. control device as described in claim 1, which is characterized in that the control device further includes：
Harvester for acquiring electron speed regulator current angular and current angular velocity；
Wherein, the harvester is coupled with the data processing chip.
4. control device as claimed in claim 3, which is characterized in that the harvester includes：
ICM three axis accelerometers and gyroscope.
5. control device as claimed in claim 3, which is characterized in that the harvester is corresponding with the motor driver
Motor is arranged on same carrier.
6. control device as described in claim 1, which is characterized in that the control device further includes：
Hall effect sensor for the magnetic direction for acquiring motor corresponding with the motor driver；
Wherein, the hall effect sensor is coupled with the data processing chip.
7. control device as described in claim 1, which is characterized in that the control device further includes：
The light emitting diode of at least one current state for electronic device where showing the control device, described luminous two
Pole pipe is coupled with the data processing chip.
8. control device as described in claim 1, which is characterized in that the data processing chip is stm32f3 main process task cores
Piece.
9. control device as described in claim 1, which is characterized in that the motor driver is three-phase gate drivers.
10. a kind of control method of motor speed, which is characterized in that be applied to the control described in any one of claim 1 to 9
Device, the method includes：
Data processing chip is received by controller local area network's can bus chips flies the pulse width modulation that control device is sent
PWM is instructed, wherein the PWM instructions are used to indicate the rotating speed of the corresponding motor of motor driver；
The data processing chip is instructed according to the PWM, generates corresponding current signal；
The current signal is sent to the motor driver by the data processing chip；
The motor driver is according to the current signal to the motor output current.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810586931.2A CN108572670A (en) | 2018-06-08 | 2018-06-08 | A kind of control device and control method of motor speed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810586931.2A CN108572670A (en) | 2018-06-08 | 2018-06-08 | A kind of control device and control method of motor speed |
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| Publication Number | Publication Date |
|---|---|
| CN108572670A true CN108572670A (en) | 2018-09-25 |
Family
ID=63573145
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| CN201810586931.2A Pending CN108572670A (en) | 2018-06-08 | 2018-06-08 | A kind of control device and control method of motor speed |
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| CN208207620U (en) * | 2018-06-08 | 2018-12-07 | 赫星科技有限公司 | A kind of control device and electron speed regulator of motor speed |
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- 2018-06-08 CN CN201810586931.2A patent/CN108572670A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104656664A (en) * | 2015-02-16 | 2015-05-27 | 南京航空航天大学 | Vehicle-mounted multi-rotor unmanned helicopter landing guidance control system and guidance control method |
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| CN105223870A (en) * | 2015-10-12 | 2016-01-06 | 西南石油大学 | A kind of electric steering engine control system based on DSP and CPLD |
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Application publication date: 20180925 |