CN108781026A - The control method of motor, holder, filming apparatus, aircraft and motor, holder - Google Patents
The control method of motor, holder, filming apparatus, aircraft and motor, holder Download PDFInfo
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- CN108781026A CN108781026A CN201680001704.8A CN201680001704A CN108781026A CN 108781026 A CN108781026 A CN 108781026A CN 201680001704 A CN201680001704 A CN 201680001704A CN 108781026 A CN108781026 A CN 108781026A
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- 238000000034 method Methods 0.000 title claims description 48
- 238000005259 measurement Methods 0.000 claims description 32
- 238000012546 transfer Methods 0.000 claims description 32
- 238000001514 detection method Methods 0.000 claims description 28
- 230000005611 electricity Effects 0.000 claims description 8
- 238000012360 testing method Methods 0.000 claims description 8
- 238000005303 weighing Methods 0.000 claims 6
- 238000007689 inspection Methods 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 206010037660 Pyrexia Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 238000012958 reprocessing Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/25—Devices for sensing temperature, or actuated thereby
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- Control Of Electric Motors In General (AREA)
Abstract
A kind of motor, holder, filming apparatus and aircraft, the motor (102) includes the temperature element (2) being set on the motor, the temperature element with control module (3) for being electrically connected, the real time temperature that the control module is used to be detected according to the temperature element, to adjust the input current of the motor.The present invention on motor by directly increasing temperature element, the real time temperature for monitoring motor, the input current of motor is controlled according to real time temperature, to control the torque of motor output, the torque factor of motor can not only be played to greatest extent, moreover it is possible to prevent burn-down of electrical machinery.
Description
The present invention relates to aircraft power engineering device technique field more particularly to the control methods of a kind of motor, holder, filming apparatus, aircraft and motor, holder.
Motor is very widely used as important power source.After by motor load adjustment, torque needed for motor works normally is smaller, and the electric current of motor also can be smaller.But, when when motor load is uneven or motor high-speed motion, suffered windage is larger, motor needs persistently to export larger torque to maintain its equilibrium state, this results in electrical-coil persistent fever, if the dissipating-heat environment of electrical-coil is undesirable, amount of heat is caused to be collected on electrical-coil, this may result in motor because overheat is burnt, holder where eventually leading to motor breaks down, and causes reprocessing for holder, makes troubles to user.
At present; in PTZ camera; in order to avoid burning the motor in holder; Inertial Measurement Unit (the i.e. IMU of holder; Inertial measurement unit) current model can be established according to its current-order issued, motor temperature is estimated by the current model, if after continuous output current is more than a certain threshold current and adds up a period of time; then think motor overheating and close motor, to realize the protection of motor.
But the current model can not accurately estimate the true temperature of electrical-coil; can have that motor has overheated and the protection of inactive motor or electrical-coil protect the generation of both of these case too early in the preferable situation of radiating condition, to influence the normal use of holder.Such as; motor due to temperature it is excessively high and after starting protection; holder is re-powered immediately; Inertial Measurement Unit needs to estimate motor temperature again through above-mentioned current model; when meeting the condition of starting electric motor protecting, it can just have a meeting and start electric motor protecting, and Inertial Measurement Unit estimation motor temperature needs the regular hour; however motor has been under hot conditions when holder re-powers, this will lead to motor because overheat is burnt.
Summary of the invention
The present invention provides the control method of a kind of motor, holder, filming apparatus, aircraft and motor, holder.
First aspect according to the present invention, a kind of horizontal stage electric machine is provided, the motor includes the temperature element on the motor, and the temperature element with control module for being electrically connected, the control module is used for the real time temperature detected according to the temperature element, to adjust the input current of the motor.
Second aspect according to the present invention, a kind of holder is provided, control module including shaft assembly, the motor of the driving shaft assembly rotation and the control motor, the motor includes the temperature element on the motor, the temperature element is electrically connected with the control module, the real time temperature that the control module is detected according to the temperature element, to adjust the input current of the motor.
The third aspect according to the present invention, a kind of filming apparatus is provided, including holder and the carrier being mounted on the holder, the holder includes the control module of shaft assembly, the motor of the driving shaft assembly rotation and the control motor, the motor includes the temperature element on the motor, the temperature element is electrically connected with the control module, the real time temperature that the control module is detected according to the temperature element, to adjust the input current of the motor.
Fourth aspect according to the present invention, a kind of aircraft is provided, including fuselage and the filming apparatus being mounted on the fuselage, the filming apparatus includes holder and the carrier that is mounted on the holder, the holder includes the control module of shaft assembly, the motor of the driving shaft assembly rotation and the control motor, the motor includes the temperature element on the motor, the temperature element is electrically connected with the control module, the real time temperature that the control module is detected according to the temperature element, to adjust the input current of the motor.
The 5th aspect according to the present invention, provides a kind of motor control method of holder, which comprises
Detect the temperature value of the motor；
According to the temperature value detected, the input current of the motor is adjusted.
The 6th aspect according to the present invention, provides a kind of cloud platform control method, the holder includes shaft assembly and motor, and the shaft assembly passes through motor driven, which comprises
Detect the temperature value of the motor；
According to the temperature value detected, the input current of the motor is adjusted.
From the above technical solution provided in an embodiment of the present invention; the present invention on motor by directly increasing temperature element; monitor the real time temperature of motor; the input current of motor is controlled according to real time temperature; to control the torque of motor output; the torque factor of motor can not only be played to greatest extent, moreover it is possible to be avoided motor from burning because of overheat, be haved the function that protect motor.
In addition, motor provided in this embodiment is suitable for various application scenarios, such as aircraft field.
To describe the technical solutions in the embodiments of the present invention more clearly, the accompanying drawings required for describing the embodiments of the present invention are briefly described below, apparently, drawings in the following description are only some embodiments of the invention, for those of ordinary skill in the art, it without any creative labor, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is the perspective view of the aircraft in one embodiment of the invention；
Fig. 2 is the cradle head structure block diagram in one embodiment of the invention；
Fig. 3 is the electric machine structure block diagram in one embodiment of the invention；
Fig. 4 is the work flow diagram of the control module in one embodiment of the invention；
Fig. 5 is the structural block diagram of the another motor in one embodiment of the invention；
Fig. 6 is the flow chart of the motor control method in one embodiment of the invention；
Fig. 7 is the flow chart of the another motor control method in one embodiment of the invention；
Fig. 8 is the flow chart of the cloud platform control method in one embodiment of the invention；
Fig. 9 is the flow chart of the another cloud platform control method in one embodiment of the invention.
Appended drawing reference:
100: holder；101: shaft assembly；102: motor；103: electric mode transfer block；104: Inertial Measurement Unit；200: carrier；300: fuselage；1: electrical-coil；2: temperature element；3: control module.
Following will be combined with the drawings in the embodiments of the present invention, and technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, shall fall within the protection scope of the present invention.In addition, in the absence of conflict, the feature in following embodiment and embodiment can be combined with each other.
Filming apparatus provided in an embodiment of the present invention can be used as the auxiliary device of photography, photograph, monitoring, sampling, can be equipped on the fields such as aircraft, ship, vehicle or airship.The filming apparatus includes holder 100 and the carrier 200 that is mounted on the holder 100.
Wherein, the holder 100 is realizing the fixation of the carrier 200, arbitrarily adjusting the posture (such as: changing height, inclination angle and/or the direction of the carrier 200) of the carrier 200 and being stably held in the carrier 200 in determining posture.
Optionally, the carrier 200 can be video camera, can also be sensor etc..
Referring to Fig. 1, the present embodiment is applied to aircraft field with photographic device and is illustrated.The aircraft includes fuselage 300, the battery being installed in fuselage 300 and the filming apparatus.
Wherein, fuselage 300 can be used for installing the filming apparatus, for example, the holder 100 of the filming apparatus is mounted on the fuselage 300.The battery is used to provide electric energy for the motor 102 in the holder 100.
Optionally, the aircraft can be the aircraft such as unmanned vehicle, telecontrolled aircraft.
Referring to fig. 2, a kind of holder 100 provided by the invention, the holder 100 include the control module 3 of shaft assembly 101, the motor 102 for driving the shaft assembly 101 to rotate and the control motor 102.
Optionally, for three axis holders, the holder can be set there are three motor 102, such as yaw spindle motor 102, roll spindle motor 102 and pitching spindle motor 102, under the respectively driving of above three motor 102, the carrier 200 on holder 100 can be rotating around yaw axis, roll axis and pitch axes.
The holder 100 further includes that Inertial Measurement Unit 104 and electricity adjust (i.e. electron speed regulator, Electronic Speed Control, abbreviation ESC) module 103.Wherein, Inertial Measurement Unit 104 measures the attitude angle and acceleration value of the yaw axis of holder, roll axis and pitch axis these three axis.The electricity mode transfer block 103 is identical as the quantity of the horizontal stage electric machine 102, and the corresponding bottom for being disposed in each motor 102 of each electric mode transfer block 103, and the revolving speed of corresponding motor 102 is controlled by the electric mode transfer block 103.Each electricity mode transfer block 103 is electrically connected by CAN (Controller Area Network, controller local area network) bus with the Inertial Measurement Unit 104, to realize the communication of the two.
Optionally, the control module 3 is the electric mode transfer block 103, controls the work of the corresponding motor 102 of electricity mode transfer block 103 respectively by each electric mode transfer block 103.Certainly, the control module 3 can also be integrated in other control units of the holder.
Referring to Fig. 3, a kind of horizontal stage electric machine 102 provided in this embodiment, the motor 102 includes electrical-coil 1 and temperature element 2.In the present embodiment, the temperature element 2 is set on the electrical-coil 1.Wherein, the temperature element 2 with control module 3 for being electrically connected, and the control module 3 is used for the real time temperature detected according to the temperature element 2, to adjust the input current of the electrical-coil 1.
When motor 102 works; it needs to be passed through induced potential or electric current to electrical-coil 1; and the temperature level of electrical-coil 1 determines the temperature of entire motor 102; the real time temperature of electrical-coil 1 is timely feedbacked by setting temperature element 2; accurately to obtain the temperature of motor 102; to which accurately and rapidly starting motor 102 is protected, prevent motor 102 because overheat is burnt.
The type of temperature element 2 can be selected according to the demand of measurement accuracy.The temperature element 2 can be the temperature sensors such as analog temperature sensor, such as thermal resistance, thermocouple；Or digital temperature sensor, with more smart
The real time temperature size of electrical-coil 1 really is detected, the sensitivity of control 1 input current of electrical-coil is improved.
The fixed form of temperature element 2 be according to the actual situation (such as: thickness, size, shape of temperature element 2 etc.) come what is set.
Optionally, the temperature element 2 is attached on the electrical-coil 1.It is fixed by way of attaching, temperature element 2 is directly contacted with electrical-coil 1, can be improved the accuracy of temperature detection, to promote the timeliness that starting motor 102 is protected.
Optionally, the motor 102 further includes fastener, and the fastener is used to the temperature element 2 being fixed on the electrical-coil 1.By the way that fastener is arranged, temperature element 2 can be more clamped securely on electrical-coil 1, prevent motor 102 in the environment of running at high speed, temperature element 2 falls off from electrical-coil 1, so as to cause the real time temperature that cannot obtain electrical-coil 1 in time, in this case, motor 102 may be burnt because temperature is excessively high, be caused damages to user.
For the maximum temperature for faster detecting electrical-coil 1; the temperature element 2 is set to the inside of the electrical-coil 1; such as; electrical-coil 1 is in winding; the temperature element 2 is wrapped in the inside of electrical-coil 1, temperature element 2 can not only be securely fixed, simultaneously because 1 internal heat dissipating environment of electrical-coil is worst; the inside that machine coil 1 is arranged in temperature element 2 can be detected to the maximum temperature of electrical-coil 1 in time, so that starting motor 102 is protected in time.
The control module 3 can obtain the real time temperature T of the temperature element (TE 2 electrical-coil 1 detected in real time.
Optionally, the control module 3 periodically acquires the real-time temperature T degree that the temperature element 2 detects.Wherein, the time cycle that control module 3 reads electrical-coil temperature from temperature element 2 can be set as needed.For example, control module 3 reads the real time temperature T of electrical-coil 1 every 20ms from temperature element 2, so that control module 3 can select Preservation tactics according to the temperature of electrical-coil 1 in time.
Optionally, referring to fig. 4, the control module 3 is electric mode transfer block 103, can obtain in time the temperature information of electrical-coil 1, to improve the timeliness of the protection of motor 102.
Again referring to fig. 4, electric mode transfer block 103 periodically acquires the real time temperature T that the temperature element 2 detects, and the real time temperature T periodically acquired is sent to the Inertial Measurement Unit 104 of holder, carries out subsequent data processing by the Inertial Measurement Unit 104.
Optionally, Inertial Measurement Unit 104 sends control command (such as the instruction of current-order, 102 ON/OFF of motor) to the electric mode transfer block 103 after data processing, is controlled according to the control command the motor 102 by the electric mode transfer block 103.By the switching of electric mode transfer block 103, Inertial Measurement Unit 104 can be realized relatively simplely to electricity
The control of machine coil 1.
To prevent 102 temperature of motor is excessively high from motor 102 being caused to burn, optionally, the first temperature threshold T1 and predetermined current threshold I1 is set.Wherein, when the temperature of electrical-coil 1 is equal to the first temperature threshold T1, the input current of the electrical-coil 1 is denoted as I0, then predetermined current threshold I1 < I0.
Referring to Fig. 5, after the Inertial Measurement Unit 104 receives the real time temperature T that the electric mode transfer block 103 is sent, real time temperature T can be compared with the first temperature threshold T1, and the electric mode transfer block 103 is controlled to the size of the input current I of corresponding electrical-coil 1 according to comparison result.
When the real time temperature T of the temperature element 2 detection is less than the first temperature threshold T1, the input current I of the electrical-coil 1 is controlled as normal input current.That is Inertial Measurement Unit 104 then controls the electric mode transfer block 103 and inputs normal input current to corresponding electrical-coil 1 when judging T < T1.
In T < T1, Inertial Measurement Unit 104 judges motor 102 and is in normal work, and 102 temperature of motor is in normal temperature range, the present input current I of electrical-coil 1 is normal current range, prevents 102 temperature of motor excessively high without the input current by limiting motor coil 1.
And when the real time temperature T of the temperature element 2 detection is greater than or equal to the first temperature threshold T1, the input current I of the electrical-coil 1 is adjusted to predetermined current threshold I1.That is Inertial Measurement Unit 104 then controls the electric mode transfer block 103 to the electric current of corresponding electrical-coil 1 input I1 size when judging T >=T1.
In T >=T1, control module 3 judges that the temperature of electrical-coil 1 is excessively high, and motor 102 has the possibility burnt, and the input current of limiting motor coil 1 is needed, to prevent the heat of electrical-coil 1 from further gathering, so as to cause motor 102 to burn.
And, as T >=T1, if electric current needed for motor 102 is greater than predetermined current threshold I1, the input current I for limiting the electrical-coil 1 is predetermined current threshold I1, it prevents that 102 temperature of motor is excessively high and burns, while the torque factor of motor 102 can be played to the maximum extent.
Optionally, to further prevent 102 temperature of motor is excessively high motor 102 is caused to burn, setting is greater than the second temperature threshold value T2 of the first temperature threshold T1, using the temperature range between T1 and T2 as temperature pre-warning range.
Again referring to Fig. 5, Inertial Measurement Unit 104 is after the real time temperature T for judging electrical-coil 1 is greater than or equal to the first temperature threshold T1, the then size of the real-time temperature values of the electrical-coil 1 and second temperature threshold value T2.
When the real time temperature T of the temperature element 2 detection is greater than or equal to the first temperature threshold T1 and is less than second temperature threshold value T2, the input current I of the electrical-coil 1 is adjusted to predetermined current threshold I1.That is inertia measurement list
Member 104 then controls the electric mode transfer block 103 to the electric current of corresponding electrical-coil 1 input I1 size when judging T1≤T < T2.
In T1≤T < T2, Inertial Measurement Unit 104 judges that the real time temperature T of electrical-coil 1 is located at temperature pre-warning range, the input current I of electrical-coil 1 is excessive, heat on electrical-coil 1 cannot shed in time, cause the temperature of electrical-coil 1 excessively high, motor 102 has the possibility burnt, and needs the input current of timely limiting motor coil 1, to prevent the heat of electrical-coil 1 from further gathering, so as to cause motor 102 to burn.
When the real time temperature T of the temperature element 2 detection is greater than or equal to second temperature threshold value T2, the motor 102 is closed.That is Inertial Measurement Unit 104 then closes the motor 102 when judging T > T2.
A possibility that in T > T2, the temperature that Inertial Measurement Unit 104 judges electrical-coil 1 has exceeded temperature maximum, such as closes motor 102 not in time and is protected, and motor 102 is burnt is very big.
Optionally, the pent mode of motor 102 can be selected as needed.Such as, by way of automatic control, the control module 3 is when the real time temperature T for judging the electrical-coil 1 is greater than or equal to second temperature threshold value T2, then send shutdown signal (such as, the input current I for adjusting the electrical-coil 1 is to prevent motor 102 from burning zero) to motor 102 to close the motor 102.Alternatively, closing motor 102 by manually mode, control module 3 issues the standby signal for closing motor 102, the motor 102 is turned off manually by user, to prevent motor 102 from burning.
Optionally, T1=60 °, T2=70 °.
When control module 3 judges T < 60 °, then judge that motor 102 works normally, the input current I of control electrical-coil 1 is normal input current.
When control module 3 judges 60 °≤T < 70 °, then judge that the input current I of electrical-coil 1 is excessive, the input current I for limiting the electrical-coil 1 is predetermined current threshold I1, prevents the heat of electrical-coil 1 from further assembling.
When control module 3 judges T >=70 °, then judge that 102 temperature of motor is excessively high, directly closes the motor 102 more than temperature safety range to prevent motor 102 from burning.
Referring to Fig. 6, the present embodiment also provides a kind of 102 control method of motor of holder, and 102 control method of motor of the holder can be used for controlling above-mentioned horizontal stage electric machine 102, and the embodiment that can refer to above-mentioned horizontal stage electric machine 102 explains 102 control method of motor of the holder.
Incorporated by reference to Fig. 6 and Fig. 7,102 control method of motor of the holder may include:
S101: the temperature value of the motor is obtained.
Optionally, the motor 102 includes electrical-coil 1, and the temperature value T of the motor is characterized by the temperature value on electrical-coil 1.In the present embodiment, temperature element 2 is set on the electrical-coil 1, accurately to obtain the real-time temperature values T of electrical-coil 1.
Temperature element 2 can be analog temperature sensor or digital temperature sensor.
In order to more accurately and rapidly detect the real-time temperature values T of electrical-coil 1, temperature element 2 can be attached on the electrical-coil 1.
For the accuracy for further increasing temperature detection, temperature element 2 can be set to the inside of the electrical-coil 1.
S102: according to the temperature value got, the input current of the motor 102 is adjusted.
Optionally, by being arranged the control module 3 that is electrically connected with the electrical-coil 1, control module 3 is according to the temperature value T of electrical-coil, to adjust the input current I of the electrical-coil 1.In the present embodiment, the input current of the motor 102 is inputted by the electrical-coil 1.
Optionally, the control module 3 is electric mode transfer block 103.
Fig. 7 is referred to, is protected for starting motor 102 in time, prevents motor 102 from burning because of overheat, the motor control method of the holder can also include:
S103: being arranged the first temperature threshold T1 and predetermined current threshold I1, and the temperature value T that will test makes comparisons with the first temperature threshold, as T < T1, then enters step S104；As T >=T1, then S105 is entered step.
S104: the input current for controlling the electrical-coil 1 is normal input current.
In this step, Inertial Measurement Unit 104 then controls the electric mode transfer block 103 and inputs normal input current to corresponding electrical-coil 1 when judging T < T1.I.e. as T < T1, Inertial Measurement Unit 104 judges motor 102 and is in normal work, and 102 temperature of motor is in normal temperature range, the present input current I of electrical-coil 1 is normal current range, prevents 102 temperature of motor excessively high without the input current by limiting motor coil 1.
S105: the input current for adjusting the electrical-coil 1 is predetermined current threshold.
In this step, Inertial Measurement Unit 104 then controls the electric mode transfer block 103 to the electric current of corresponding electrical-coil 1 input I1 size when judging T >=T1.I.e. as T >=T1, control module 3 judges that the temperature of electrical-coil 1 is excessively high, and motor 102 has the possibility burnt, and the input current of limiting motor coil 1 is needed, to prevent the heat of electrical-coil 1 from further gathering, so as to cause motor 102 to burn.
Optionally, the motor control method of the holder can also include:
S106: setting is greater than the second temperature threshold value of first temperature threshold, and when the temperature value detected is more than or equal to the first temperature threshold and is less than second temperature threshold value, the input current for adjusting the electrical-coil 1 is predetermined current threshold.
In this step, Inertial Measurement Unit 104 then controls the electric mode transfer block 103 when judging T1≤T < T2
To the electric current of corresponding electrical-coil 1 input I1 size.I.e. as T1≤T < T2, Inertial Measurement Unit 104 judges that the real time temperature T of electrical-coil 1 is located at temperature pre-warning range, the input current I of electrical-coil 1 is excessive, heat on electrical-coil 1 cannot shed in time, cause the temperature of electrical-coil 1 excessively high, motor 102 has the possibility burnt, and needs the input current of timely limiting motor coil 1, to prevent the heat of electrical-coil 1 from further gathering, so as to cause motor 102 to burn.
Optionally, the motor control method further include:
S107: the temperature value that will test is made comparisons with second temperature threshold value, when the temperature value detected is greater than or equal to second temperature threshold value, closes the motor 102, for example, controlling the input current of electrical-coil 1 by control module 3 is zero.
In this step, Inertial Measurement Unit 104 then closes the motor 102 when judging T > T2.A possibility that i.e. as T > T2, the temperature that Inertial Measurement Unit 104 judges electrical-coil 1 has exceeded temperature maximum, such as closes motor 102 not in time and is protected, and motor 102 is burnt is very big.
Optionally, the motor control method of the holder can also include:
The temperature value, and the temperature value periodically acquired according to this are periodically acquired, the input current of the electrical-coil 1 is adjusted, to improve the timeliness of the protection of motor 102.
The time cycle that electric mode transfer block 103 reads electrical-coil temperature from temperature element 2 can be set as needed.For example, electric mode transfer block 103 reads the real time temperature T of electrical-coil 1 every 20ms from temperature element 2, so that electric mode transfer block 103 can select Preservation tactics according to the temperature of electrical-coil 1 in time.
Referring to Fig. 8, a kind of cloud platform control method provided in this embodiment, the cloud platform control method can be used for controlling above-mentioned holder, and the embodiment that can refer to above-mentioned holder explains the cloud platform control method.
Wherein, the holder includes shaft assembly 101 and motor 102, and the motor 102 includes electrical-coil 1.
Incorporated by reference to Fig. 8 and Fig. 9, the cloud platform control method may include:
S201: the shaft assembly 101 is driven to rotate by motor 102.
Wherein, for three axis holders, the holder can be set there are three motor 102, as yawed spindle motor 102, roll spindle motor 102 and pitching spindle motor 102, under the respectively driving of above three motor 102, the carrier 200 on holder 100 can be rotating around yaw axis, roll axis and pitch axes.
S202: the temperature value of the motor is obtained.
Optionally, the motor 102 includes electrical-coil 1, and the temperature value T of the motor is characterized by the temperature value on electrical-coil 1.In the present embodiment, temperature element 2 is set on the electrical-coil 1, with accurate
Obtain the real-time temperature values T of electrical-coil 1.
Temperature element 2 can be analog temperature sensor or digital temperature sensor.
In order to more accurately and rapidly detect the real-time temperature values T of electrical-coil 1, temperature element 2 can be attached on the electrical-coil 1.
For the accuracy for further increasing temperature detection, temperature element 2 can be set to the inside of the electrical-coil 1.
S203: according to the temperature value detected, the input current of the motor is adjusted.
Optionally, by being arranged the control module 3 that is electrically connected with the electrical-coil 1, control module 3 is according to the temperature value T of electrical-coil, to adjust the input current I of the electrical-coil 1.In the present embodiment, the input current of the motor 102 is inputted by the electrical-coil 1.
Optionally, the control module 3 is electric mode transfer block 103.
Optionally, referring to Fig. 9, the cloud platform control method further include:
S204: being arranged the first temperature threshold T1 and predetermined current threshold I1, and the temperature value T that will test makes comparisons with the first temperature threshold T1, as T < T1, then enters step S205；As T >=T1, then S206 is entered step.
S205: the input current I for controlling the electrical-coil 1 is normal input current.
S206: the input current I for adjusting the electrical-coil 1 is predetermined current threshold I1.
Optionally, the cloud platform control method further include:
S207: setting is greater than the second temperature threshold value of first temperature threshold；
When the temperature value detected is greater than or equal to the first temperature threshold and is less than second temperature threshold value, the input current for adjusting the electrical-coil 1 is predetermined current threshold.
Optionally, the cloud platform control method further include:
S208: the temperature value that will test is made comparisons with second temperature threshold value, when the temperature value detected is greater than or equal to second temperature threshold value, closes the motor 102.
Optionally, the cloud platform control method further include:
The real time temperature of the detection, and the temperature value periodically acquired according to this are periodically acquired, the input current of the electrical-coil 1 is adjusted.
In summary; the present invention on motor 102 by directly increasing temperature element 2; monitor the real time temperature of motor 102; the input current of motor 102 is controlled according to real time temperature; to control the torque of the output of motor 102; the torque factor of motor 102 can not only be played to greatest extent, moreover it is possible to prevent motor 102 from burning because of overheat, to protect to motor 102.In addition, motor 102 provided in this embodiment is suitable for various application scenarios, such as aircraft field.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle; the any modification, equivalent substitution, improvement and etc. done; it should be included within the scope of the present invention that the foregoing is merely illustrative of the preferred embodiments of the present invention; it is not intended to limit the invention; all within the spirits and principles of the present invention; the any modification, equivalent substitution, improvement and etc. done, should be included within the scope of the present invention.
Claims (49)
- A kind of horizontal stage electric machine, it is characterized in that, the motor includes the temperature element on the motor, the temperature element with control module for being electrically connected, the control module is used for the real time temperature detected according to the temperature element, to adjust the input current of the motor.
- Horizontal stage electric machine as described in claim 1, which is characterized in that the motor includes electrical-coil, and the temperature element is installed on electrical-coil, and the input current of the motor is inputted by the electrical-coil.
- Horizontal stage electric machine as claimed in claim 2, which is characterized in that when the real time temperature of temperature element detection is less than the first temperature threshold, the input current of the electrical-coil is controlled as normal input current；And when the real time temperature of temperature element detection is greater than or equal to the first temperature threshold, the input current of the electrical-coil is adjusted to predetermined current threshold.
- Horizontal stage electric machine as claimed in claim 3, which is characterized in that when the real time temperature of temperature element detection is greater than or equal to the first temperature threshold and is less than second temperature threshold value, the input current of the electrical-coil is adjusted to predetermined current threshold.
- Motor as claimed in claim 4, which is characterized in that when the real time temperature of temperature element detection is greater than or equal to second temperature threshold value, the motor is closed.
- Horizontal stage electric machine as claimed in claim 2, which is characterized in that the temperature element is attached on the electrical-coil.
- Horizontal stage electric machine as claimed in claim 6, which is characterized in that the temperature element is set to the inside of the electrical-coil.
- Horizontal stage electric machine as claimed in claim 2, which is characterized in that the temperature element is analog temperature sensor or digital temperature sensor.
- A kind of holder, control module including shaft assembly, the motor of the driving shaft assembly rotation and the control motor, it is characterized in that, the motor includes the temperature element on the motor, the temperature element is electrically connected with the control module, the real time temperature that the control module is detected according to the temperature element, to adjust the input current of the motor.
- Holder as claimed in claim 9, which is characterized in that the motor includes electrical-coil, and the temperature element is installed on electrical-coil, and the input current of the motor is inputted by the electrical-coil.
- Holder as claimed in claim 10, which is characterized in that the control module is also set to, and when judging the real time temperature of the temperature element detection less than the first temperature threshold, the input current for controlling the electrical-coil is normal input current；And when judging that the real time temperature of the temperature element detection is greater than or equal to the first temperature threshold, the input current for adjusting the electrical-coil is predetermined current threshold.
- Holder as claimed in claim 11, it is characterized in that, the control module is also set to, and when judging that the real time temperature of the temperature element detection is greater than or equal to the first temperature threshold and is less than second temperature threshold value, the input current for adjusting the electrical-coil is predetermined current threshold.
- Holder as claimed in claim 12, which is characterized in that the control module is set to, and when judging that the real time temperature of the temperature element detection is greater than or equal to second temperature threshold value, closes the motor.
- Holder as claimed in claim 10, which is characterized in that the holder further includes Inertial Measurement Unit, and the control module is electric mode transfer block, and the electricity mode transfer block is set to, and periodically acquires the real time temperature of the temperature element detection.
- Holder as claimed in claim 10, which is characterized in that the temperature element is attached on the electrical-coil.
- Holder as claimed in claim 15, which is characterized in that the temperature element is set to the inside of the electrical-coil.
- Holder as claimed in claim 10, which is characterized in that the temperature element is analog temperature sensor or digital temperature sensor.
- A kind of filming apparatus, including holder and the carrier being mounted on the holder, the holder includes the control module of shaft assembly, the motor of the driving shaft assembly rotation and the control motor, it is characterized in that, the motor includes the temperature element on the motor, the temperature element is electrically connected with the control module, the real time temperature that the control module is detected according to the temperature element, to adjust the input current of the motor.
- Filming apparatus as claimed in claim 18, which is characterized in that the motor includes electrical-coil, and the temperature element is installed on electrical-coil, and the input current of the motor is inputted by the electrical-coil.
- Filming apparatus as claimed in claim 19, which is characterized in that the control module is set to, and when judging the real time temperature of the temperature element detection less than the first temperature threshold, the input current for controlling the electrical-coil is normal input current；And when judging that the real time temperature of the temperature element detection is greater than or equal to the first temperature threshold, the input current for adjusting the electrical-coil is predetermined current threshold.
- Filming apparatus as claimed in claim 20, it is characterized in that, the control module is also set to, and when judging that the real time temperature of the temperature element detection is greater than or equal to the first temperature threshold and is less than second temperature threshold value, the input current for adjusting the electrical-coil is predetermined current threshold.
- Filming apparatus as claimed in claim 21, which is characterized in that the control module is also set to, and when judging that the real time temperature of the temperature element detection is greater than or equal to second temperature threshold value, closes the motor.
- Filming apparatus as claimed in claim 19, which is characterized in that the holder further includes Inertial Measurement Unit, and the control module is electric mode transfer block, and the electricity mode transfer block is set to, and periodically acquires the temperature element inspection The real time temperature of survey.
- Filming apparatus as claimed in claim 19, which is characterized in that the temperature element is attached on the electrical-coil.
- Filming apparatus as claimed in claim 24, which is characterized in that the temperature element is set to the inside of the electrical-coil.
- Filming apparatus as claimed in claim 19, which is characterized in that the temperature element is analog temperature sensor or digital temperature sensor.
- Filming apparatus as claimed in claim 18, which is characterized in that the carrier is video camera.
- A kind of aircraft, including fuselage and the filming apparatus being mounted on the fuselage, the filming apparatus includes holder and the carrier that is mounted on the holder, the holder includes the control module of shaft assembly, the motor of the driving shaft assembly rotation and the control motor, it is characterized in that, the motor includes the temperature element on the motor, the temperature element is electrically connected with the control module, the real time temperature that the control module is detected according to the temperature element, to adjust the input current of the motor.
- Aircraft as claimed in claim 28, which is characterized in that the motor includes electrical-coil, and the temperature element is installed on electrical-coil, and the input current of the motor is inputted by the electrical-coil.
- Aircraft as claimed in claim 29, which is characterized in that the control module is set to, and when judging the real time temperature of the temperature element detection less than the first temperature threshold, the input current for controlling the electrical-coil is normal input current；And when judging that the real time temperature of the temperature element detection is greater than or equal to the first temperature threshold, the input current for adjusting the electrical-coil is predetermined current threshold.
- Aircraft as claimed in claim 30, it is characterized in that, the control module is also set to, and when judging that the real time temperature of the temperature element detection is greater than or equal to the first temperature threshold and is less than second temperature threshold value, the input current for adjusting the electrical-coil is predetermined current threshold.
- Aircraft as claimed in claim 31, which is characterized in that the control module is also set to, and when judging that the real time temperature of the temperature element detection is greater than or equal to second temperature threshold value, closes the motor 102.
- Aircraft as claimed in claim 29, which is characterized in that the holder includes Inertial Measurement Unit, and the control module is electric mode transfer block, and the electricity mode transfer block is set to, and periodically acquires the real time temperature of the temperature element detection.
- Aircraft as claimed in claim 29, which is characterized in that the temperature element is attached on the electrical-coil.
- Aircraft as claimed in claim 34, which is characterized in that the temperature element is set to the inside of the electrical-coil.
- Aircraft as claimed in claim 29, which is characterized in that the temperature element is analog temperature sensor or digital temperature sensor.
- Aircraft as claimed in claim 28, which is characterized in that the carrier is video camera.
- A kind of motor control method of holder, which is characterized in that the described method includes:Obtain the temperature value of the motor；According to the temperature value, the input current of the motor is adjusted.
- The motor control method of holder as claimed in claim 38, which is characterized in that the motor includes electrical-coil, and the temperature value of the motor is characterized by the temperature value of the electrical-coil, and the input current of the motor is inputted by the electrical-coil.
- The motor control method of holder as claimed in claim 39, which is characterized in that the method also includes:First temperature threshold and predetermined current threshold are set；The temperature value that will test is made comparisons with the first temperature threshold, and when the temperature value detected is less than first temperature threshold, the input current for controlling the electrical-coil is normal input current；When the temperature value detected is greater than or equal to first temperature threshold, the input current for adjusting the electrical-coil is predetermined current threshold.
- The motor control method of holder as described in weighing and require 40, which is characterized in that the method also includes:Second temperature threshold value greater than first temperature threshold is set；When the temperature value detected is greater than or equal to the first temperature threshold and is less than second temperature threshold value, the input current for adjusting the electrical-coil is predetermined current threshold.
- The motor control method of holder as described in weighing and require 41, which is characterized in that the method also includes:The temperature value that will test is made comparisons with second temperature threshold value, when the temperature value detected is greater than or equal to second temperature threshold value, closes the motor.
- The motor control method of holder as described in weighing and require 39, which is characterized in that further include:The real time temperature of the detection, and the temperature value periodically acquired according to this are periodically acquired, the input current of the electrical-coil is adjusted.
- A kind of cloud platform control method, the holder include shaft assembly and motor, and the shaft assembly passes through motor driven, which is characterized in that the described method includes:Obtain the temperature value of the motor；According to the temperature value, the input current of the motor is adjusted.
- Cloud platform control method as claimed in claim 44, which is characterized in that the motor includes electrical-coil, and the temperature value of the motor is characterized by the temperature of electrical-coil, and the input current of the motor passes through the motor lines Circle input.
- Cloud platform control method as claimed in claim 45, which is characterized in that the method also includes:First temperature threshold and predetermined current threshold are set；The temperature value that will test is made comparisons with the first temperature threshold, and when the temperature value detected is less than first temperature threshold, the input current for controlling the electrical-coil is normal input current；When the temperature value detected is greater than or equal to first temperature threshold, the input current for adjusting the electrical-coil is predetermined current threshold.
- Cloud platform control method as described in weighing and require 46, which is characterized in that the method also includes:Second temperature threshold value greater than first temperature threshold is set；When the temperature value detected is greater than or equal to the first temperature threshold and is less than second temperature threshold value, the input current for adjusting the electrical-coil is predetermined current threshold.
- Cloud platform control method as described in weighing and require 47, which is characterized in that the method also includes:The temperature value that will test is made comparisons with second temperature threshold value, when the temperature value detected is greater than or equal to second temperature threshold value, closes the motor.
- Cloud platform control method as described in weighing and require 45, which is characterized in that further include:The real time temperature of the detection, and the temperature value periodically acquired according to this are periodically acquired, the input current of the electrical-coil is adjusted.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/109063 WO2018103047A1 (en) | 2016-12-08 | 2016-12-08 | Motor, pan-tilt platform, camera device, aircraft, and control method of motor and pan-tilt platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108781026A true CN108781026A (en) | 2018-11-09 |
| CN108781026B CN108781026B (en) | 2020-10-30 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680001704.8A Expired - Fee Related CN108781026B (en) | 2016-12-08 | 2016-12-08 | Motor, cradle head, shooting device, aircraft, motor and control method of cradle head |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108781026B (en) |
| WO (1) | WO2018103047A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113675824A (en) * | 2021-08-11 | 2021-11-19 | 追觅创新科技(苏州)有限公司 | Overload protection method and device for motor, storage medium and electronic device |
| CN117156267A (en) * | 2023-09-07 | 2023-12-01 | 思翼科技（深圳）有限公司 | Cloud deck camera working mode switching method and system based on environment self-adaption |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114678837B (en) * | 2022-05-30 | 2022-09-02 | 中山大洋电机股份有限公司 | Motor overheating protection method |
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| CN117156267B (en) * | 2023-09-07 | 2024-05-14 | 思翼科技（深圳）有限公司 | Cloud deck camera working mode switching method and system based on environment self-adaption |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018103047A1 (en) | 2018-06-14 |
| CN108781026B (en) | 2020-10-30 |
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