CN108768236A - Motor control method, device, electron speed regulator and unmanned vehicle - Google Patents
Motor control method, device, electron speed regulator and unmanned vehicle Download PDFInfo
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- CN108768236A CN108768236A CN201810579472.5A CN201810579472A CN108768236A CN 108768236 A CN108768236 A CN 108768236A CN 201810579472 A CN201810579472 A CN 201810579472A CN 108768236 A CN108768236 A CN 108768236A
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- 238000004891 communication Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 7
- 230000005611 electricity Effects 0.000 description 6
- 230000009466 transformation Effects 0.000 description 5
- 238000011217 control strategy Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present embodiments relate to a kind of motor control method, device, electron speed regulator and unmanned vehicle, the method includes：Obtain current battery level UdcAnd q shaft voltages input instruction uqref0, according to the current battery level UdcAnd the q shaft voltages input instruction uqref0Obtain current q shaft voltages uqref；According to the current q shaft voltages uqref, motor is controlled.The embodiment of the present invention is according to current battery level UdcAnd q shaft voltages input instruction uqref0Obtain current q shaft voltages uqref.It can be according to current battery level UdcVariation adjust current q shaft voltages u in real timeqrefValue, can change to avoid cell voltage it is excessive caused by motor the problem of controlling poor robustness, improve the robustness of motor control, and do not interfere with the mobility range of unmanned vehicle.
Description
Technical field
The present embodiments relate to motor control technology fields, more particularly to a kind of motor control method, device, electronics
Governor and unmanned vehicle.
Background technology
Unmanned vehicle is a kind of by radio robot and built-in program controls the not manned of flight attitude
Aircraft has been widely used in military and civil field.Blade is generally mounted on motor by unmanned vehicle, passes through motor
The rotation of rotor drives the rotation of blade, and the power for rising or advancing is provided by the unmanned vehicle that rotates to be of blade.
Unmanned vehicle mostly uses lithium battery and is powered, and electricity can continuously decrease in flight course.Certain specific
In the case of, when battery gives big load supplying, the case where cell output voltage is pulled low there is likely to be moment.If electric
Pond output voltage variation is apparent, can lead to electric machine control system poor robustness, to cause motor waveform anamorphic system efficiency to drop
Low, it is also possible to leading to motor stall when serious, or even there are the risks of aircraft bombing.
Currently, the above situation usually is prevented by the way that the given maximum value of active voltage is arranged, but this method drops
The low mobility range of unmanned vehicle is not suitable for the high unmanned vehicle of some mobility area requirements.
Invention content
The purpose of the embodiment of the present invention is to provide a kind of mobility range not influencing unmanned vehicle and motor control Shandong
The good motor control method of stick, device, electron speed regulator and unmanned vehicle.
In order to solve the above technical problems, in a first aspect, an embodiment of the present invention provides a kind of motor control method, the side
Method is used for electron speed regulator, the method includes：
Obtain current battery level UdcAnd q shaft voltages input instruction uqref0, according to the current battery level UdcAnd
The q shaft voltages input instruction uqref0Obtain current q shaft voltages uqref；
According to the current q shaft voltages uqref, motor is controlled.
In some embodiments, the current q shaft voltages areWherein, Udc_maxIt is default the
One voltage.
In some embodiments, the default first voltage is Udc_max=k*U'dc_max, wherein 0.7≤k≤0.9,
U'dc_maxFor maximum busbar voltage；
The maximum busbar voltage is that the electron speed regulator drops to the second default throttle value by the first default throttle value
When battery voltage value.
In some embodiments, the described first default throttle value is the throttle range higher limit of the electron speed regulator, institute
State the throttle lower range limit that the second default throttle value is the electron speed regulator.
In some embodiments, the method further includes：
If the current battery level UdcThe time for being consistently less than minimum voltage threshold value is more than preset time threshold, then sends out
Send alarm command.
Second aspect, the embodiment of the present invention additionally provide a kind of motor control assembly, and described device is used for electron speed regulator,
Described device includes：
Current q shaft voltage acquisition modules, for obtaining current battery level UdcAnd q shaft voltages input instruction uqref0, root
According to the current battery level UdcAnd the q shaft voltages input instruction uqref0Obtain current q shaft voltages uqref；
Motor control module, for according to the current q shaft voltages uqref, motor is controlled.
In some embodiments, the current q shaft voltages areWherein, Udc_maxIt is default the
One voltage.
In some embodiments, the default first voltage is Udc_max=k*U'dc_max, wherein 0.7≤k≤0.9,
U'dc_maxFor maximum busbar voltage；
The maximum busbar voltage is that the electron speed regulator drops to the second default throttle value by the first default throttle value
When battery voltage value.
In some embodiments, the described first default throttle value is the throttle range higher limit of the electron speed regulator, institute
State the throttle lower range limit that the second default throttle value is the electron speed regulator.
In some embodiments, described device further includes：
Alarm command sending module, if being used for the current battery level UdcIt is consistently less than the time of minimum voltage threshold value
More than preset time threshold, then alarm command is sent.
The third aspect, the embodiment of the present invention additionally provide a kind of electron speed regulator, the operating for controlling motor, the electricity
Sub- governor includes the electric machine controller and motor driver being electrically connected, and the electric machine controller and the motor driver are equal
For being electrically connected with the motor, the electric machine controller includes：
At least one processor；And
The memory being connect at least one processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one processor, and described instruction is by described at least one
A processor executes, so that at least one processor is able to carry out above-mentioned method.
Fourth aspect, the embodiment of the present invention additionally provide a kind of unmanned vehicle, including：
Fuselage；
Flight controller, motor and the electron speed regulator for controlling the motor operation being set on the fuselage,
The electron speed regulator is above-mentioned electron speed regulator.
5th aspect, the embodiment of the present invention additionally provide a kind of non-volatile computer readable storage medium storing program for executing, the calculating
Machine readable storage medium storing program for executing is stored with computer executable instructions, when the computer executable instructions are executed by unmanned vehicle
When, so that the unmanned vehicle is executed above-mentioned method.
The embodiment of the present invention is according to current battery level UdcAnd q shaft voltages input instruction uqref0Obtain current q shaft voltages
uqref.It can be according to current battery level UdcVariation adjust current q shaft voltages u in real timeqrefValue, can be to avoid cell voltage
The problem of changing excessive caused motor control poor robustness, improves the robustness of motor control, and does not interfere with nobody
The mobility range of aircraft.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described.It should be evident that drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 a are the application scenarios schematic diagrams of motor control method and device of the present invention；
Fig. 1 b are the hardware configurations of electron speed regulator 20 in an application scenarios of motor control method and device of the present invention
Schematic diagram；
Fig. 2 is the flow chart of one embodiment of motor control method of the present invention；
Fig. 3 be motor control method of the present invention one embodiment in motor control principle schematic diagram；
Fig. 4 a are the motor current waveform schematic diagrames using the motor control method of the prior art；
Fig. 4 b are the motor current waveform schematic diagrames using the motor control method of the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of one embodiment of motor control assembly of the present invention；
Fig. 6 is the structural schematic diagram of one embodiment of motor control assembly of the present invention；
Fig. 7 is the hardware architecture diagram of electron speed regulator provided in an embodiment of the present invention.
Specific implementation mode
Understand in order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with specific embodiment,
And with reference to attached drawing, the present invention is described in more detail.
It should be noted that all statements for using " first " and " second " are for differentiation two in the embodiment of the present invention
The non-equal entity of a same names or non-equal parameter, it is seen that " first " " second " only for the convenience of statement, does not answer
It is interpreted as the restriction to the embodiment of the present invention, subsequent embodiment no longer illustrates this one by one.
Motor control method and device provided in an embodiment of the present invention are suitable for application scenarios shown in Fig. 1 a, the application
Scene includes unmanned vehicle 100, and unmanned vehicle 100 includes motor 10, electron speed regulator 20 and flight controller 30.Its
In, flight controller 30 is the control system of unmanned vehicle 100, for sending throttle control signal to electron speed regulator 20
(such as q shaft voltages input instruction) and other control signals.What electron speed regulator 20 was used to be sent according to flight controller 30
Control signal adjustment motor 10 rotating speed, motor 10 be used for drive unmanned vehicle 100 blade (not shown) rotate from
And the flight for unmanned vehicle 100 provides power.
Fig. 1 a and Fig. 1 b are please referred to, electron speed regulator 20 includes motor driver 21 and electric machine controller 22, wherein motor
Driver 21 is such as inverter.Electric machine controller 22 receive the detection of current sensor (not shown) from motor 10
Two-phase or three-phase current signal are (if detection biphase current signal, another phase current signal can pass through kirchhoff's principle meter
It calculates and obtains).Based on the three-phase current signal, d axis feedback current and q axis feedback currents can be obtained.22 base of electric machine controller
Control signal is generated by certain control strategy in the d axis feedback current and q axis feedback current, then passes through the control signal
It controls motor driver 21 (such as inverter) and generates 10 operation of motor drive signal driving motor.The control strategy is for example electric
Flowing ring, speed ring+electric current loop and portion of electrical current ring, (directly given, the current d shaft voltages of i.e. current q shaft voltages pass through to d axis electricity
Stream is exported using pi regulator closed loop) etc..
Such as one of which portion of electrical current ring control strategy, electric machine controller 22 receive the q axis that flight controller 30 is sent
Control source instructs, and obtains the current battery level U of the supplying cell 40 of motor driver 21dc, worked as based on the two
Preceding q shaft voltages.Current d shaft voltages are obtained by carrying out PI control and regulation to given d shaft currents instruction and d axis feedback currents.Electricity
Machine controller 22 (can be obtained according to current q shaft voltages, current d shaft voltages and current rotor angle, θ by noninductive control algolithm
), Park transformation is carried out to current q shaft voltages and current d shaft voltages and Clarke transformation obtains three-phase voltage and controls signal.Electricity
Machine driver 21 (illustrating so that motor driver 21 is inverter as an example) controls signal according to three-phase voltage, to cell voltage UdcInto
Row PWM, which is adjusted, generates three phase electric machine drive signal, and it is output to motor 10.
According to current battery level UdcCurrent q shaft voltages are obtained, it can be according to cell voltage UdcVariation in real time adjustment work as
The value of preceding q shaft voltages avoids the problem that the excessive caused motor control poor robustness of cell voltage variation.
Wherein, unmanned vehicle 100 can be the unmanned vehicle of any suitable type, such as rotor unmanned aircraft,
Including typical quadrotor unmanned vehicle, DCB Specimen unmanned vehicle and six rotor unmanned aircrafts etc., the embodiment of the present invention
This is not construed as limiting.Motor 10 can be the motor of the suitable type such as permanent magnet synchronous motor or asynchronous AC motor.
In addition to unmanned vehicle, it is various motor-driven that motor provided in an embodiment of the present invention is also applied to other
In loose impediment, such as steamer, robot etc..
Fig. 2 is the flow diagram of one embodiment of motor control method provided in an embodiment of the present invention, the motor
Control method can be executed by the electric machine controller 22 in the electron speed regulator 20 in Fig. 1, as shown in Fig. 2, the motor controls
Method includes：
101：Obtain current battery level UdcAnd q shaft voltages input instruction uqref0, according to the current battery level Udc
And the q shaft voltages input instruction uqref0Obtain current q shaft voltages uqref。
Wherein, cell voltage UdcFig. 1 b are please referred to, are the supplying cell voltage of motor driver 21 in electron speed regulator 20.
Q shaft voltages input instruction uqref0Can be that other controllers or control chip are sent to electron speed regulator 20, in electronic speed regulation
Device 20 is used for the occasion of unmanned vehicle 100, q shaft voltages input instruction uqref0Can be the winged control control of unmanned vehicle 100
Device 30 is sent to electron speed regulator 20.
Specifically, in some embodiments, according to current battery level UdcAnd q shaft voltages input instruction uqref0It obtains
Current q shaft voltages uqref, can be according to current battery level UdcA coefficient is obtained, then the coefficient and q shaft voltages are inputted
Instruct uqref0It is multiplied.The coefficient can be such as UdcDivided by the quotient of a certain voltage value, i.e., current q shaft voltagesWherein, Udc_maxTo preset first voltage, in some embodiments, the default first voltage can
To be that voltage value that battery is expired under electric condition in further embodiments can also be according to maximum busbar voltage U'dc_maxIt obtains,
Such as Udc_max=k*U'dc_max, wherein k can be with value for 0.7≤k≤0.9.
It can charge the battery when in view of motor reduction, maximum busbar voltage U'dc_maxIt can be prepared by the following,
One higher throttle value first of selection presets throttle value and a lower throttle value second presets throttle value, passes through other
Controller (being flight controller 30 in the occasion of unmanned vehicle) control electron speed regulator 20 is declined by the first default throttle value
To the second default throttle value, battery voltage value at this time is recorded as maximum busbar voltage U'dc_max。
Wherein, in some embodiments, the first default throttle value be electron speed regulator 20 throttle range higher limit, second
Default throttle value is the throttle lower range limit of electron speed regulator 20.With the throttle of electron speed regulator 20 ranging from 1200-
Illustrate for 1900us, the first default throttle value is 1900us, and the second default throttle value is 1200us.Certainly, the first default oil
The value that gate value can also take other larger, such as 1850, the value that the second default throttle value can also take other smaller, such as
1250, the embodiment of the present invention is not restricted this.
The occasion of a supplying cell, such as multiple motors in certain unmanned vehicles are shared in multiple electron speed regulators
Electron speed regulator share a battery, illustrate by taking quadrotor unmanned vehicle as an example, the electron speed regulators of four motors shares
One supplying cell then obtains maximum busbar voltage U'dc_maxWhen, four electronic speed regulations can be controlled by flight controller
Drop to the second default throttle value from the first default throttle value records cell voltage at this time to device to charge the battery simultaneously
Value is used as U'dc_max。
102：According to the current q shaft voltages uqref, motor is controlled.
Current q shaft voltages u is obtained by step 101qref, current d shaft voltages can be by using PI tune to d shaft currents
Save the output of device closed loop.The specific method for illustrating motor control by taking Fig. 3 as an example below, is obtained by current sensor (not shown)
The biphase current ia and ib of motor (in figure by taking permanent magnet synchronous motor as an example) are obtained, it is former that another phase current ic can pass through kirchhoff
Reason, which calculates, to be obtained, and carries out Clark transformation to ia, ib and ic and Park transformation obtains current d shaft currents IdWith current q shaft currents
Iq.By current d shaft currents IdWith the d shaft currents I of last momentdrefThe deviation of (initial d shaft currents are target d shaft currents) introduces
Pi regulator obtains current d shaft voltages udref.According to current battery level UdcAnd q shaft voltages input instruction uqref0It obtains current
Q shaft voltages uqref.To current d shaft voltages udrefWith current q shaft voltages uqrefProgress Park inverse transformations simultaneously (can according to rotor angle
To be obtained by noninductive control algolithm) three-phase voltage command is obtained, PWM tune is then carried out to inverter according to three-phase voltage command
Section outputs a control signal to motor.
The embodiment of the present invention is according to current battery level UdcAnd q shaft voltages input instruction uqref0Obtain current q shaft voltages
uqref.It can be according to current battery level UdcVariation adjust current q shaft voltages u in real timeqrefValue, can be to avoid cell voltage
The problem of changing excessive caused motor control poor robustness, improves the robustness of motor control, and does not interfere with nobody
The mobility range of aircraft.
Motor control method provided in an embodiment of the present invention remains to keep good Shandong when cell voltage changes greatly
Stick.It is using the motor current waveform figure of the motor control method of the prior art to please refer to Fig. 4 a and Fig. 4 b, Fig. 4 a, and Fig. 4 b are
Using the motor current waveform figure of the motor control method of the embodiment of the present invention, wherein the curve being located above is current of electric
Waveform, underlying curve are line voltage oscillogram.As can be seen from Figure, in Fig. 4 a, when cell voltage is relatively low, occur
The case where current waveform distortion, and in Fig. 4 b, current waveform sine degree is good.
It is used for the occasion of unmanned vehicle 100 in certain application scenarios of electron speed regulator 20, such as electron speed regulator 20,
If cell voltage is relatively low, the maximum (top) speed of motor also can be reduced accordingly, if cell voltage holding less than a certain voltage value
The continuous time is more than certain time, and there will be risks when unmanned vehicle 100 does various postures in the air.Therefore, in order to realize nothing
The safe flight of people's aircraft 100, when there is the above situation, i.e., if current battery level UdcIt is consistently less than minimum voltage threshold
The time of value is more than preset time threshold, then sends alarm command.
Wherein, alarm command can issue other controllers, and the field of unmanned vehicle 100 is used in electron speed regulator 20
It closes, alarm command can issue flight controller 30, so that flight controller 30 controls unmanned vehicle 100 and makes a return voyage.Or it will
Alarm command is sent to remote controler, so that manipulator knows the danger, to take safety measures in time.
Minimum voltage threshold value can be according to the concrete application situation value of electron speed regulator 20, or according to electron speed regulator
20 concrete application situation is obtained by operation, for example, when electron speed regulator 20 is applied to unmanned vehicle, minimum voltage threshold
Value can be according to the blade of the maximum attitude angle of unmanned vehicle 100, the weight of unmanned vehicle 100, unmanned vehicle 10
Output situation and current rotating speed operation obtain.
Correspondingly, the embodiment of the present invention additionally provides a kind of motor control assembly, described device is used for electron speed regulator 20,
Fig. 5 is please referred to, motor control assembly 500 includes current q shaft voltages acquisition module 501 and motor control module 502.Wherein, when
Preceding q shaft voltages acquisition module 501 is for obtaining current battery level UdcInstruction u is inputted with q shaft voltagesqref0, and according to current
Cell voltage UdcAnd q shaft voltages input instruction uqref0Obtain current q shaft voltages uqref.Motor control module 502 is used for basis
The current q shaft voltages u that current q shaft voltages acquisition module 501 obtainsqrefMotor is controlled.
The embodiment of the present invention is according to current battery level UdcAnd q shaft voltages input instruction uqref0Obtain current q shaft voltages
uqref.It can be according to current battery level UdcVariation adjust current q shaft voltages u in real timeqrefValue, can be to avoid cell voltage
The problem of changing excessive caused motor control poor robustness, improves the robustness of motor control, and does not interfere with nobody
The mobility range of aircraft.
In some embodiments of motor control assembly 500, the current q shaft voltages areIts
In, Udc_maxTo preset first voltage.
Wherein, in some embodiments, it is U to preset first voltagedc_max=k*U'dc_max, wherein 0.7≤k≤0.9,
U'dc_maxFor maximum busbar voltage；
The maximum busbar voltage is that the electron speed regulator drops to the second default throttle value by the first default throttle value
When battery voltage value.
Wherein, in some embodiments, the described first default throttle value is the throttle range limit of the electron speed regulator
Value, the second default throttle value are the throttle lower range limit of the electron speed regulator.
In other embodiments of motor control assembly 500, Fig. 6 is please referred to, motor control assembly 500 further includes：
Alarm command sending module 503, if being used for the current battery level UdcIt is consistently less than minimum voltage threshold value
Time is more than preset time threshold, then sends alarm command.
It should be noted that above-mentioned motor control assembly can perform the motor control method that the embodiment of the present invention is provided,
Have the corresponding function module of actuating motor control method and advantageous effect.Not in device embodiment, the technology of detailed description is thin
Section, reference can be made to the motor control method that the embodiment of the present invention is provided.
As shown in fig. 7, the embodiment of the present invention additionally provides a kind of electron speed regulator 20, electron speed regulator 20 includes electrically connecting
The electric machine controller 22 and motor driver 21 connect, electric machine controller 22 and motor driver 21 are used to electrically connect with motor 10
It connects, electric machine controller 22 includes：
One or more processors 221 and memory 222, in Fig. 7 by taking a processor 221 as an example.221 He of processor
Memory 222 can be connected by bus or other modes, in Fig. 7 by taking bus connects as an example.
Memory 222 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey
Sequence, non-volatile computer executable program and module, such as the corresponding program of motor control method in the embodiment of the present invention
Instruction/unit (for example, attached current q shaft voltages acquisition module 501 shown in fig. 5 and motor control module 502).Processor 221
It is stored in non-volatile software program, instruction and unit in memory 222 by operation, to execute electron speed regulator
The motor control method of above method embodiment is realized in various function application and data processing.
Memory 222 may include storing program area and storage data field, wherein storing program area can store operation system
System, the required application program of at least one function；Storage data field, which can be stored, uses created number according to electron speed regulator
According to etc..In addition, memory 222 may include high-speed random access memory, can also include nonvolatile memory, such as extremely
A few disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments, memory
222 it is optional include the memory remotely located relative to processor 221, these remote memories can pass through network connection to electricity
Sub- governor.The example of above-mentioned network includes but not limited to internet, intranet, LAN, mobile radio communication and its group
It closes.
One or more of units are stored in the memory 222, when by one or more of processors
When 221 execution, the motor control method in above-mentioned any means embodiment is executed, for example, executing the side in Fig. 2 described above
Method step 101-102 realizes the function of module 501-502 shown in fig. 5, module 501-503 shown in fig. 6.
Above-mentioned electron speed regulator can perform the motor control method that the embodiment of the present invention is provided, and it is corresponding to have execution method
Function module and advantageous effect.The technical detail of detailed description not in electron speed regulator embodiment, reference can be made to the present invention is real
Apply the method that example is provided.
The embodiment of the present invention additionally provides a kind of non-volatile computer readable storage medium storing program for executing, the computer-readable storage
Media storage has computer executable instructions, which is executed by one or more processors, such as in Fig. 7
A processor 221, may make said one or multiple processors to can perform the motor control in above-mentioned any means embodiment
Method processed realizes module 501-502, Fig. 6 shown in fig. 5 for example, executing the method and step 101-102 in Fig. 2 described above
Shown in module 501-503 function.
As shown in Figure 1, the embodiment of the present invention additionally provides a kind of unmanned vehicle 100, unmanned vehicle 100 includes：
Fuselage；
Flight controller 30, motor 10 and the electronics tune for controlling the operation of the motor 10 being installed on the fuselage
Fast device 20, the electron speed regulator 20 are above-mentioned electron speed regulator.
Above-mentioned unmanned vehicle 100 includes electron speed regulator provided in an embodiment of the present invention, has its corresponding function mould
Block and advantageous effect.The technical detail of detailed description not in unmanned vehicle embodiment, reference can be made to the embodiment of the present invention is carried
The electron speed regulator of confession.
Finally it should be noted that：Above example is only to illustrate the technical solution of the application, rather than its limitations；At this
It under the thinking of application, can also be combined between the technical characteristic in above example or different embodiment, step can be with
It is realized with random order, and there are many other variations of the different aspect of the application as described above, for simplicity, they do not have
Have and is provided in details；Although the application is described in detail with reference to the foregoing embodiments, the ordinary skill people of this field
Member should understand that：It still can be with technical scheme described in the above embodiments is modified, or to which part skill
Art feature carries out equivalent replacement；And these modifications or replacements, each reality of the application that it does not separate the essence of the corresponding technical solution
Apply the range of a technical solution.
Claims (13)
1. a kind of motor control method, the method is used for electron speed regulator, which is characterized in that the method includes：
Obtain current battery level UdcAnd q shaft voltages input instruction uqref0, according to the current battery level UdcAnd it is described
Q shaft voltages input instruction uqref0Obtain current q shaft voltages uqref；
According to the current q shaft voltages uqref, motor is controlled.
2. according to the method described in claim 1, it is characterized in that, the current q shaft voltages are
Wherein, Udc_maxTo preset first voltage.
3. according to the method described in claim 2, it is characterized in that, the default first voltage is Udc_max=k*U'dc_max,
In, 0.7≤k≤0.9, U'dc_maxFor maximum busbar voltage；
The maximum busbar voltage is when the electron speed regulator drops to the second default throttle value by the first default throttle value
Battery voltage value.
4. according to the method described in claim 3, it is characterized in that, the first default throttle value is the electron speed regulator
Throttle range higher limit, the second default throttle value are the throttle lower range limit of the electron speed regulator.
5. according to the method described in any of claim 1 to 4, which is characterized in that the method further includes：
If the current battery level UdcThe time for being consistently less than minimum voltage threshold value is more than preset time threshold, then sends report
Alert instruction.
6. a kind of motor control assembly, described device is used for electron speed regulator, which is characterized in that described device includes：
Current q shaft voltage acquisition modules, for obtaining current battery level UdcAnd q shaft voltages input instruction uqref0, according to institute
State current battery level UdcAnd the q shaft voltages input instruction uqref0Obtain current q shaft voltages uqref；
Motor control module, for according to the current q shaft voltages uqref, motor is controlled.
7. device according to claim 6, which is characterized in that the current q shaft voltages are
Wherein, Udc_maxTo preset first voltage.
8. device according to claim 7, which is characterized in that the default first voltage is Udc_max=k*U'dc_max,
In, 0.7≤k≤0.9, U'dc_maxFor maximum busbar voltage；
The maximum busbar voltage is when the electron speed regulator drops to the second default throttle value by the first default throttle value
Battery voltage value.
9. device according to claim 8, which is characterized in that the first default throttle value is the electron speed regulator
Throttle range higher limit, the second default throttle value are the throttle lower range limit of the electron speed regulator.
10. according to the device described in claim 6-9 any one, which is characterized in that described device further includes：
Alarm command sending module, if being used for the current battery level UdcThe time for being consistently less than minimum voltage threshold value is more than
Preset time threshold then sends alarm command.
11. a kind of electron speed regulator, the operating for controlling motor, the electron speed regulator include the motor control being electrically connected
Device and motor driver, the electric machine controller and the motor driver are used to be electrically connected with the motor, feature
It is, the electric machine controller includes：
At least one processor；And
The memory being connect at least one processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one processor, and described instruction is by least one place
It manages device to execute, so that at least one processor is able to carry out claim 1-5 any one of them methods.
12. a kind of unmanned vehicle, which is characterized in that including：
Fuselage；
Flight controller, motor and the electron speed regulator for controlling the motor operation being set on the fuselage, it is described
Electron speed regulator is the electron speed regulator described in claim 11.
13. a kind of non-volatile computer readable storage medium storing program for executing, which is characterized in that the computer-readable recording medium storage has
Computer executable instructions make the unmanned vehicle hold when the computer executable instructions are executed by unmanned vehicle
Any one of them method of row claim 1-5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810579472.5A CN108768236A (en) | 2018-06-07 | 2018-06-07 | Motor control method, device, electron speed regulator and unmanned vehicle |
| PCT/CN2018/112881 WO2019233021A1 (en) | 2018-06-07 | 2018-10-31 | Motor control method and apparatus, electronic governor, and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810579472.5A CN108768236A (en) | 2018-06-07 | 2018-06-07 | Motor control method, device, electron speed regulator and unmanned vehicle |
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| CN108768236A true CN108768236A (en) | 2018-11-06 |
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| CN201810579472.5A Pending CN108768236A (en) | 2018-06-07 | 2018-06-07 | Motor control method, device, electron speed regulator and unmanned vehicle |
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| Country | Link |
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| CN (1) | CN108768236A (en) |
| WO (1) | WO2019233021A1 (en) |
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Application publication date: 20181106 |