CN108828490A - Unmanned plane, electron speed regulator and its sample rate current calibration method, system - Google Patents
Unmanned plane, electron speed regulator and its sample rate current calibration method, system Download PDFInfo
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The present invention relates to a kind of unmanned plane, electron speed regulator and its sample rate current calibration methods, system.The sample rate current calibration system includes current sampling circuit, bandwidth filter and subtracter；The current sampling circuit is used to acquire the three-phase current when electron speed regulator carry load work, and collected three-phase current is converted into sampled voltage；Bandwidth filter is connect with the output end of the current sampling circuit；The bandwidth filter is for being filtered the sampled voltage, to extract the offset voltage in the sampled voltage；Subtracter is connect with the output end of the output end of the current sampling circuit and the bandwidth filter respectively；The subtracter is used to the sampled voltage and the offset voltage doing subtraction, obtains calibration voltage, to obtain the three-phase current after electron speed regulator calibration according to the calibration voltage.This system improves current sample precision, avoid the current sample offset introduced when the normal bringing onto load of electron speed regulator works.
Description
Technical field
The present invention relates to air vehicle technique field more particularly to a kind of unmanned planes, electron speed regulator and its sample rate current school
Quasi- method, system.
Background technique
Multi-rotor unmanned aerial vehicle is common a kind of unmanned plane on the market at present, generally comprises three and the above propeller group
At.Propeller is driven by a motor, and motor is driven by electron speed regulator, and three constitutes the dynamical system of unmanned plane.Flight control
Device, according to the revolving speed for flying control signal control motor and paddle, is unmanned plane by sending a signal to electron speed regulator, electron speed regulator
Flying power is provided.When electron speed regulator uses vector control mode, it usually needs the electric current of acquisition motor 2-3 phase is as control
Parameter processed is controlled.The accuracy of the sampled value of electric current influences the performance of control system, and then influences aircraft and integrally move
Power performance.Since there are certain voltage bias in the processing part on sample rate current access, such as amplifier device.I.e. in actual current
In the case where being zero, there is certain deviation using the value that sampled value is calculated.Existing processing method is generally by upper
The bias voltage is sampled when electric, is subtracted deviation in subsequent processing and is achieved the purpose that correcting current.
But aforesaid way is there are certain deficiency, when electricity aligns the work of normal bringing onto load, due to power section switch and
Larger range variation occurs for the temperature that conduction loss can be such that electricity adjusts, since in different temperatures, its opering characteristic of electric apparatus can be sent out electronic device
Raw certain variation, will lead to the bias voltage that front is calibrated in this way and occurs deviation again.It is to do different temperatures there are also a kind of mode
The temperature correction of value, compensates at different temperatures.But this mode needs largely to be tested, in addition different batches
Its temperature characterisitic of device is also different, needs a large amount of manpower and material resources to be calibrated when producing in enormous quantities.
Summary of the invention
The present invention is intended to provide a kind of unmanned plane, electron speed regulator and its sample rate current calibration method, system.Sampling electricity
Calibration method and system are flowed, current sample precision is improved, avoids the electricity introduced when the normal bringing onto load of electron speed regulator works
Flow sample offset.
The embodiment of the present invention uses following technical scheme：
A kind of sample rate current calibration system of electron speed regulator, including：Current sampling circuit, bandwidth filter and subtraction
Device；The current sampling circuit is used for three-phase current when acquiring the electron speed regulator carry load work, and by collected three
Phase current is converted into sampled voltage；Bandwidth filter is connect with the output end of the current sampling circuit；The bandwidth filter
For being filtered to the sampled voltage, to extract the offset voltage introduced since temperature raises in the sampled voltage；Subtract
Musical instruments used in a Buddhist or Taoist mass is connect with the output end of the output end of the current sampling circuit and the bandwidth filter respectively；The subtracter
For the sampled voltage and the offset voltage to be done subtraction, calibration voltage is obtained, to obtain electricity according to the calibration voltage
Three-phase current after sub- governor calibration.
The bandwidth filter includes low-pass filter in one of the embodiments,；The filtering of the low-pass filter
Characteristic is determined according to the error characteristics of the offset voltage, to extract the offset voltage.
The low-pass filter is second-order low-pass filter in one of the embodiments,.
The filtering characteristic of the low-pass filter determines according to the following formula in one of the embodiments,：
Vin (s) indicates to input the sampled voltage of the low-pass filter；Veer2 (s) expression passes through the low pass filtered
The offset voltage that wave device obtains；S indicates that transmission function is the Laplace transform of the time-domain function of input-output wave shape.
A kind of sample rate current calibration method of electron speed regulator, including：When acquiring the electron speed regulator carry load work
Three-phase current, and collected three-phase current is converted into sampled voltage；By bandwidth filtering mode to the sampled voltage into
Row filtering, to extract the offset voltage introduced since temperature raises in the sampled voltage；By the sampled voltage and it is described partially
It moves voltage and does subtraction, obtain calibration voltage；The three-phase current after the electron speed regulator calibration is obtained according to the calibration voltage.
It is described in one of the embodiments, that the sampled voltage is filtered by bandwidth filtering mode, including：Root
The bandwidth filtering mode is determined according to following formula：
Vin (s) indicates the sampled voltage；Veer2 (s) indicates the offset voltage；S indicates that transmission function is that input is defeated
The Laplace transform of the time-domain function of waveform out.
It is described in one of the embodiments, that the three-phase after the electron speed regulator calibration is obtained according to the calibration voltage
Before electric current, further include：The input current for controlling the every phase bridge arm of three phase full bridge circuit of the electron speed regulator is zero；It obtains every
The output voltage of amplifier unit and the reference voltage of amplifier unit input terminal input in the current sampling circuit of phase bridge arm；
Determine that every phase bridge arm exists according to the reference voltage that the output voltage of the amplifier unit and the amplifier unit input terminal input
Static bias voltage under static；It is described that three-phase current after the electron speed regulator calibration is obtained according to the calibration voltage,
Including：The three-phase current after the electron speed regulator calibration is obtained according to the calibration voltage and the static bias voltage.
The input of the every phase bridge arm of three phase full bridge circuit of the control electron speed regulator in one of the embodiments,
Electric current is zero, including：In a pair of series switching tube for controlling every phase bridge arm, in synchronization, one of switching tube is led
Logical, another switching tube is closed.
A kind of electron speed regulator, including sample rate current calibration system described in any of the above-described embodiment.
A kind of unmanned plane, including electron speed regulator described in above-described embodiment.
A kind of storage medium, is stored thereon with computer program；The computer program is suitable for being loaded and being held by processor
Sample rate current calibration method described in any of the above-described embodiment of row.
The sample rate current calibration system of electron speed regulator provided by the invention, current sampling circuit acquire electron speed regulator
When carry load work, the electric current of every phase bridge arm in three phase full bridge circuit, while collected electric current is converted into sampled voltage.And
And sampled voltage is filtered by bandwidth filter, when extracting electron speed regulator carry load work in sampled voltage in circuit
The offset voltage of introducing.Finally, sampled voltage is subtracted offset voltage, calibration voltage is calculated, thus according to calibration voltage
The three-phase current of calibration can be calculated.The system can calculate offset voltage, and to the mistake in actual sample value
Difference is eliminated, and this mode improves current sample precision, and it is inclined to avoid current sample caused by the offset voltage in circuit
It moves.Simultaneously volume production complexity and production time need not be reduced, volume production efficiency is improved using responsible off-line temperature compensation.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, institute in being described below to the embodiment of the present invention
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also implement according to the present invention
The content of example and these attached drawings obtain other attached drawings.
Fig. 1 is the structural circuit block diagram inside the electron speed regulator in an embodiment provided by the invention；
Fig. 2 is the inside electricity of the current sampling module of the electron speed regulator three-phase current in an embodiment provided by the invention
Lu Tu；
Fig. 3 is the structural block diagram of the sample rate current calibration system of the electron speed regulator in an embodiment provided by the invention；
Fig. 4 is the method flow of the sample rate current calibration method of the electron speed regulator in an embodiment provided by the invention
Figure；
Fig. 5 is the waveform signal of the electric current of ideally collected every phase bridge arm in an embodiment provided by the invention
Figure；
Fig. 6 is the waveform in each stage in the online bias voltage calibration of current sample in an embodiment provided by the invention
Schematic diagram；
Fig. 7 is the method flow of the sample rate current calibration method of the electron speed regulator in another embodiment provided by the invention
Figure；
Fig. 8 is the operational flowchart of the current sample bias calibration in an embodiment provided by the invention.
Specific embodiment
To keep the technical problems solved, the adopted technical scheme and the technical effect achieved by the invention clearer, below
It will the technical scheme of the embodiment of the invention will be described in further detail in conjunction with attached drawing, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
The electron speed regulator used on unmanned plane is since high reliability, installation maintenance easily require, generally using no speed
Spend sensor control program.Wherein vector control scheme, due to the small low noise of motor torque ripple and the characteristics such as dynamic response is good,
It is increasingly becoming a kind of development trend of electron speed regulator control method.Using above-mentioned vector control scheme, it is necessary to acquire electronics
The current signal of the three-phase bridge arm of governor output reaches adjusting motor speed, and then adjust to realize the control to motor
The lift of paddle output completes the adjustment of UAV Attitude, steering, speed etc..In vector control scheme, current signal is control
The important parameter of system, the accuracy of sampled value directly influence the control precision of control system.
Fig. 1 illustrates the internal structure of electron speed regulator.Three phase full bridge circuit includes three-phase bridge arm, and every phase bridge arm includes upper
Bridge switch pipe and bridge switch pipe.As shown in Figure 1, switch on the bridge pipe includes switching tube Q1, switching tube Q2 and switching tube Q3.Lower bridge
Switching tube includes switching tube Q4, switching tube Q5 and switching tube Q6.Main control chip passes through each switch in drive control three-phase bridge arm
The conducting and closing of pipe and the conducting dutycycle of each switching tube, to control in three-phase bridge arm every phase bridge arm into motor
Electric current.When electron speed regulator uses vector control mode, it usually needs the electric current for acquiring motor is carried out as control parameter
Motor control.The accuracy of current sampling data influences the performance of control system, and then influences aircraft integral power performance.
As shown in Figure 1, including output current sampling module in electron speed regulator, the output electricity of every phase bridge arm is acquired respectively
Stream.The internal circuit for exporting current sampling module is as shown in Figure 2 comprising 3 current sampling circuits, each current sampling circuit
For acquiring the output electric current of a phase bridge arm.As shown in Fig. 2, each current sampling circuit includes that sampling resistor and transport and placing device etc. are electric
Sub- device.Electronic device generates different temperature drift voltage and at different temperatures due to the original such as aging circuit in electronic circuit
Because of the voltage of introducing, to influence the exact value of current sample in electron speed regulator, further influence to be controlled according to sample rate current
Accuracy when system.
The present invention provides a kind of sample rate current calibration system of electron speed regulator, when for electron speed regulator carry load work
The three-phase current of acquisition is calibrated, to obtain the exact value of the three-phase current of input motor.As shown in figure 3, implementing one
In example, which includes current sampling circuit 200, bandwidth filter 300 and subtracter 400.
Current sampling circuit 200 with phase bridge arm every in three phase full bridge circuit 100 for connecting, to acquire electron speed regulator band
Three-phase current when work is carried, while and collected three-phase current is converted into sampled voltage.Three phase full bridge circuit 100 referring to
Shown in Fig. 1, the internal circuit configuration of current sampling circuit 200 is shown in Figure 2.
Bandwidth filter 300 is connect with the output end of current sampling circuit 200, to receive the output of current sampling circuit 200
Sampled voltage Vin.Bandwidth filter 300 is for being filtered sampled voltage, to extract the offset voltage in sampled voltage.
Wherein, offset voltage includes being introduced comprising electronic devices such as amplifier devices due to temperature change in current sampling circuit 200
Voltage that is to say temperature drift voltage.Meanwhile offset voltage further includes the voltage introduced due to aging circuit etc. in circuit.Electricity
For sub- governor in carry load work, collected sampled voltage (voltage that sample rate current converts) includes offset voltage and three
The voltage of phase current.Bandwidth filter 300 described in the embodiment of the present invention can be filtered sampled voltage, to extract wherein
Offset voltage.
In one embodiment, bandwidth filter is low-pass filter.The filtering characteristic of low-pass filter is according to electronic speed regulation
The error characteristics of the offset voltage introduced in the current sampling module of device three-phase current determine, to extract offset voltage.Herein, partially
The error characteristics for moving voltage are that frequency is lower, and frequency variation is little.Specifically, offset voltage is temperature drift voltage.Temperature drift voltage
Error characteristics be that temperature drift voltage is slowly varying as the temperature rises, and temperature drift electric voltage frequency is lower.According to offset voltage
Frequency characteristic determine the filtering frequency range of low-pass filter.Wherein, low-pass filter can be second-order low-pass filter.It is filtered
Characteristic determines according to the following formula：
Vin (s) indicates to input the sampled voltage of the low-pass filter；Veer2 (s) expression passes through the low pass filtered
The offset voltage that wave device obtains；S indicates that transmission function is the Laplace transform of the time-domain function of input-output wave shape.
According to above-mentioned formula, in the three-phase current of acquisition three phase full bridge circuit in real time, after being converted to real-time sampled voltage,
The offset voltage can be calculated in real time.In the present embodiment, offset voltage generally refers to draw in circuit since temperature raises
The temperature drift voltage entered.Its temperature drift voltage characteristic is determined according to above-mentioned formula.
Subtracter 400 is connect with the output end of the output end of current sampling circuit 200 and bandwidth filter 300 respectively,
To receive the sampled voltage Vin of the output of the current sampling circuit 200 and offset voltage Veer2 of the output of bandwidth filter 300.Subtract
Musical instruments used in a Buddhist or Taoist mass 400 is used to sampled voltage Vin and offset voltage Veer2 doing subtraction, calibration voltage Vs is obtained, according to calibration voltage Vs
Three-phase current after obtaining electron speed regulator calibration.
The sample rate current calibration system of above-mentioned electron speed regulator, current sampling circuit acquire electron speed regulator carry load work
When, the electric current of every phase bridge arm in three phase full bridge circuit, while collected electric current is converted into sampled voltage.Also, pass through band
Wide filter is filtered sampled voltage, extracts the offset voltage in sampled voltage.Finally, sampled voltage is subtracted offset electricity
Pressure, is calculated calibration voltage, so that the three-phase current of calibration can be calculated according to calibration voltage.The system can will deviate
Voltage calculates, and eliminates in actual sample value to the error, and this mode improves current sample precision, avoids
Current sample caused by offset voltage deviates.Volume production complexity need not be reduced using responsible off-line temperature compensation simultaneously
And the production time, improve volume production efficiency.
The present invention also provides a kind of sample rate current calibration methods of electron speed regulator, for the sampling electricity to electron speed regulator
Stream is calibrated, to obtain accurate three-phase current in work.In one embodiment, as described in Figure 4, the sample rate current calibration side
Method includes the following steps：
S100 acquires the three-phase current when electron speed regulator carry load work, and collected three-phase current is converted
At sampled voltage.
In the present embodiment, sampled by electric current of the current sampling circuit to phase bridge arm every in three phase full bridge circuit.And
And in electron speed regulator carry load work, current sampling circuit acquires the electric current of every phase bridge arm.The electricity of current sampling circuit
Line structure is as shown in Figure 2.It should be noted that current sampling circuit is not limited to circuit structure as shown in Figure 2, it can also be
The circuit structure of his form.
S200 is filtered the sampled voltage by bandwidth filtering mode, inclined in the sampled voltage to extract
Move voltage.
When the normal carry load work of electron speed regulator, in circuit due to various reasons, such as the temperature of aging circuit, electronic device
Characteristic etc. is floated, is caused in sampled voltage other than comprising actually entering the corresponding voltage of three-phase current in three-phase circuit, also
Offset voltage is added additional, there are errors so as to cause collected sampled voltage.The side that the present embodiment is filtered by bandwidth
Formula extracts the offset voltage in the sampled voltage.
In one embodiment, offset voltage includes the temperature drift voltage due to caused by temperature change.Specifically, due to power
The loss of the switching loss, conduction loss and line related circuit of device, can be such that electron speed regulator becomes in large temperature range
Change.It is influenced since the electrical characteristic of electronic device will receive temperature, has a slowly varying temperature in temperature change in this way
It floats in voltage superposition to true sampled current signals.It will lead to current sample generation if not doing calibration to temperature drift voltage and eliminating
Error, to influence control system performance.
In the vector control scheme of electron speed regulator, the electric current of ideally collected every phase bridge arm is sine
Wave, as shown in Figure 5.When without offset voltage influence, DC component is close to 0.When offsetting voltage influence, it is equivalent in electricity
It flows and is superimposed a slowly varying offset voltage in the fundamental frequency of sine wave.In the application of unmanned plane, the fundamental wave frequency of electric current
Rate is generally variation in 100Hz-1000Hz.And the variation of offset voltage is slower, it, can by the bandwidth filter of certain forms
The slowly varying offset voltage being superimposed in normal fundamental frequency is done real time calibration, to eliminate the factors pair such as temperature change
The influence of current sample.
The sampled voltage of collected three-phase current conversion passes through when in the present embodiment, by electron speed regulator carry load work
Bandwidth filter is filtered, and extracts the offset voltage in the sampled voltage.Wherein, bandwidth filter is according to the spy of offset voltage
Property, select the low-pass filter of certain frequency range.The frequency range of filter is determined according to the frequency of offset voltage.The bandwidth filter
It is determined according to formula：
Vin (s) indicates the sampled voltage；Veer2 (s) indicates the offset voltage；S indicates that transmission function is that input is defeated
The Laplace transform of the time-domain function of waveform out.
In the embodiment of the present embodiment, offset voltage described above is generally referred to due to electronic device in circuit
Temperature drift characteristic and the temperature drift voltage that introduces.
The sampled voltage and the offset voltage are done subtraction, obtain calibration voltage by S300.
In the present solution, by after being filtered to sampled voltage and extracting offset voltage, according to offset voltage to sampling
Voltage does calibration process.Specifically, sampled voltage is subtracted into offset voltage and does subtraction, obtain calibration voltage.Specifically implementing
In mode, three-phase current is acquired by real-time online, and pass through current sampling circuit as shown in Figure 2 for real-time three-phase current
It is converted to real-time sampled voltage.It therefore, is also real-time offset voltage according to the offset voltage that step S200 is obtained.It will be real-time
Sampled voltage and real-time offset voltage do subtraction, obtain real-time calibration voltage.
S400 obtains the three-phase current after the electron speed regulator calibration according to the calibration voltage.
After obtaining calibration voltage to step 300 by step S100, three after calibrating can be calculated according to calibration voltage
Phase current.Specific calculation can be according in current sampling circuit as shown in Figure 2, the conversion of sample rate current and sampled voltage
Relationship is calculated.
This programme use bandwidth filtering mode, offset voltage is calculated, and in actual sample value to the error into
Row is eliminated.Specifically, offset voltage includes temperature drift voltage.This programme characteristic slower using temperature change, by electron speed regulator
Electronic device is filtered due to the temperature drift voltage that temperature drift characteristic introduces when carry load work, is improved current sample precision, is avoided
Current sample caused by temperature drift deviates.Volume production complexity and life need not be reduced using complicated off-line temperature compensation simultaneously
The time is produced, volume production efficiency is improved.
As shown in fig. 6, the upper figure in figure indicates the current sample waveform of 100Hz, it is superimposed a slowly varying offset
Voltage, this results in the electric currents of sampling to deviate, and crest value and valley value 1.00 and -1.00 are become most from what is most started
Whole 1.05 and -0.95.The present invention extracts slowly varying offset voltage in such a way that bandwidth filters, i.e., online meter
Offset voltage is calculated, waveform shown in the middle figure in figure is obtained.The following figure in figure is：Upper figure waveform subtracts wave obtained in middle figure waveform
Shape figure.It can be seen that its crest value valley value is 1.00 and -1.00 always.It can be seen that not because offset voltage generates partially
It moves, the accuracy of the current sample of raising improves the control performance of control system.It should be noted that the corresponding reality of attached drawing 6
It applies in example, offset voltage generally refers to the temperature drift voltage introduced since temperature raises.
In one embodiment, as shown in fig. 7, further including before step S400：
S10, the input current for controlling the every phase bridge arm of three phase full bridge circuit of the electron speed regulator is zero.
In the present solution, the main control chip in electron speed regulator passes through every phase bridge arm in drive control three phase full bridge circuit
Input current is zero.Specifically, as shown in Figure 1, in a pair of series switching tube that main control chip passes through the every phase bridge arm of drive control,
In synchronization, one of switching tube conducting, another switching tube is closed.
It is defeated to obtain the output voltage of amplifier unit and the amplifier unit in the current sampling circuit of every phase bridge arm by S20
Enter the reference voltage of end input.
As shown in Fig. 2, system can obtain in current sampling circuit, the voltage of amplifier unit output and amplifier unit one
The reference voltage inputted in input terminal.For example, as the output voltage V1 of operational amplifier U1 in Fig. 2 and its input terminal input
The reference voltage Vref of reference voltage Vref, the output voltage V2 of operational amplifier U2 and the input of its input terminal, alternatively, operation
The output voltage V1 of amplifier U3 and the reference voltage Vref of its input terminal input.
S30, the reference voltage inputted according to the output voltage of the amplifier unit and the amplifier unit input terminal are true
The fixed static bias voltage of every phase bridge arm in the quiescent state.
In the case that the electric current of every phase bridge arm is zero in control three phase full bridge circuit, according to the output of amplifier unit electricity
Pressure and the reference voltage of input terminal input can determine the static bias voltage of every phase bridge arm in the quiescent state.For example, such as Fig. 2 institute
Show, sample rate current zero, can determine that according to the reference voltage Vref of the output voltage V1 of operational amplifier U1 and its input,
The static bias voltage generated under static environment.The static ring that operational amplifier U2 and operational amplifier U3 is determined similarly can be obtained
The static bias voltage generated under border.
A kind of operation environment based on electron speed regulator presented below obtains the embodiment of static bias voltage：
After system enters quiescent biasing calibration procedure, according to the electron speed regulator structure of Fig. 1, main control chip can issue PWM
Signal is in MOSFET and opens off state by driving circuit.Specifically, main control chip is according to opening
It closes frequency (generally 10KHz-20KHz), issues the pwm signal that duty ratio is 50%.Same bridge arm (switching tube Q1 and is opened in this way
Pass pipe Q4 is A phase bridge arm, and switching tube Q2 and Q5 switching tube is B phase bridge arm, and switching tube Q3 and switching tube Q6 are C phase bridge arm)
MOSFET is respectively connected 50%.Since three-phase PWM is simultaneously emitted by, Q1, Q2, Q3 open closing, Q4, Q5, Q6 simultaneously under normal circumstances
Also closing is opened simultaneously.But a pair of switches pipe of same phase bridge arm is not simultaneously on state.Visible stream over-sampling electricity
The electric current hindered on Rc1, Rc2, Rc3 is 0.Current sampling circuit schematic diagram according to fig. 2, the given reference of every phase current sampling
Voltage is Vref.Since the differential voltage of input is 0, the output that sample rate current according to fig. 2 calculates every phase amplifier should be
Vref.But since resistance deviation, operational amplifier circuit deviation can introduce certain error Verr1, actual acquisition to voltage be
Vref+Verr1.Quiescent biasing calibration procedure records the Vref+Verr1 acquired at this time as the bias voltage in subsequent calculating
The elimination of error is carried out, sampling precision is improved.
At this point, step S400 includes step：
S410, three after the electron speed regulator calibration is obtained according to the calibration voltage and the static bias voltage
Phase current.
In the present embodiment, the static state that is obtained according to the calibration voltage and static calibration environment that are obtained under dynamic calibration environment
Bias voltage, the three-phase current after electron speed regulator calibration can be obtained.It that is to say, the embodiment of the present invention is inclined using quiescent current
While setting calibration, online dynamic bias calibration process is added.Using the characteristic that temperature change is slower, using online bias calibration
It eliminates current sample caused by the factors such as temperature to bias, achievees the purpose that real time calibration, improve the accuracy of current sample.
The present invention also provides a kind of electron speed regulators.The electron speed regulator includes the electricity of sampling described in any of the above-described embodiment
Flow calibration system and three phase full bridge circuit.Sample rate current calibration system is for complete to three-phase in electron speed regulator carry load work
The sample rate current of every phase bridge arm is calibrated in bridge circuit, to obtain accurate current sampling data.
The current sample calibration process of the electron speed regulator is as shown in Figure 8.When electron speed regulator receives flight control system
After the enabling signal of sending, before starting motor, electron speed regulator will do it the sample rate current school of three-phase current as shown in Figure 8
Quasi- process.Wherein, mode such as above-described embodiment of the calibration of current sample static calibration and the online dynamic calibration of current sample
Described, and will not be described here in detail.
Further, the present invention also provides a kind of unmanned planes.The unmanned plane includes electronic speed regulation described in above-described embodiment
Device further includes flight controller and motor.Flight controller controls signal electron governor for exporting flight, so that
Electron speed regulator provides flying power according to the revolving speed of control motor for unmanned plane.
The present invention also provides a kind of storage mediums.Computer program is stored on the storage medium；The computer program
When being executed by processor, sample rate current calibration method described in any of the above-described embodiment is realized.The storage medium can be storage
Device.For example, built-in storage or external memory, or including both built-in storage and external memory.Built-in storage may include only
It reads memory (ROM), programming ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), fast
Flash memory or random access memory.External memory may include hard disk, floppy disk, ZIP disk, USB flash disk, tape etc..Institute of the invention is public
The storage medium opened includes but is not limited to the memory of these types.Memory disclosed in this invention is only used as example rather than makees
To limit.
The above is only a preferred embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to the present invention
Limitation.
Claims (11)
1. a kind of sample rate current calibration system of electron speed regulator, which is characterized in that including：Current sampling circuit, bandwidth filtering
Device and subtracter；
The current sampling circuit is used for three-phase current when acquiring the electron speed regulator carry load work, and by collected three
Phase current is converted into sampled voltage；
The bandwidth filter is connect with the output end of the current sampling circuit；The bandwidth filter is used for the sampling
Voltage is filtered, to extract the offset voltage in the sampled voltage；
The subtracter is connect with the output end of the output end of the current sampling circuit and the bandwidth filter respectively；
The subtracter is used to the sampled voltage and the offset voltage doing subtraction, calibration voltage is obtained, according to the calibration
Voltage obtains the three-phase current after electron speed regulator calibration.
2. calibration system according to claim 1, which is characterized in that the bandwidth filter includes low-pass filter；Institute
The filtering characteristic for stating low-pass filter is determined according to the error characteristics of the offset voltage, to extract the offset voltage.
3. calibration system according to claim 2, which is characterized in that the low-pass filter is second-order low-pass filter.
4. calibration system according to claim 2, which is characterized in that the filtering characteristic of the low-pass filter is according to following
Formula determines：
Vin (s) indicates to input the sampled voltage of the low-pass filter；Veer2 (s) indicates to pass through the low-pass filter
The obtained offset voltage；S indicates that transmission function is the Laplace transform of the time-domain function of input-output wave shape.
5. a kind of sample rate current calibration method of electron speed regulator, which is characterized in that including：
The three-phase current when electron speed regulator carry load work is acquired, and collected three-phase current is converted into sampling electricity
Pressure；
The sampled voltage is filtered by bandwidth filtering mode, to extract the offset voltage in the sampled voltage；
The sampled voltage and the offset voltage are done into subtraction, obtain calibration voltage；
The three-phase current after the electron speed regulator calibration is obtained according to the calibration voltage.
6. sample rate current calibration method according to claim 5, which is characterized in that it is described by bandwidth filtering mode to institute
Sampled voltage is stated to be filtered, including：The bandwidth filtering mode is determined according to the following formula：
Vin (s) indicates the sampled voltage；Veer2 (s) indicates the offset voltage；S indicates that transmission function is input and output wave
The Laplace transform of the time-domain function of shape.
7. sample rate current calibration method according to claim 5, which is characterized in that described to be obtained according to the calibration voltage
Before three-phase current after the electron speed regulator calibration, further include：
The input current for controlling the every phase bridge arm of three phase full bridge circuit of the electron speed regulator is zero；
Obtain the output voltage of amplifier unit and amplifier unit input terminal input in the current sampling circuit of every phase bridge arm
Reference voltage；
Every phase bridge is determined according to the reference voltage that the output voltage of the amplifier unit and the amplifier unit input terminal input
The static bias voltage of arm in the quiescent state；
It is described that three-phase current after the electron speed regulator calibration is obtained according to the calibration voltage, including：According to the calibration
Voltage and the static bias voltage obtain the three-phase current after the electron speed regulator calibration.
8. sample rate current calibration method according to claim 7, which is characterized in that the control electron speed regulator
The input current of the every phase bridge arm of three phase full bridge circuit is zero, including：
In a pair of series switching tube for controlling every phase bridge arm, in synchronization, one of switching tube is connected, another
Switching tube is closed.
9. a kind of electron speed regulator, which is characterized in that calibrated including sample rate current described in any one of Claims 1-4
System.
10. a kind of unmanned plane, which is characterized in that including electron speed regulator as claimed in claim 9.
11. a kind of storage medium, which is characterized in that be stored thereon with computer program；The computer program is suitable for by handling
Device any one of load and execute the claims 5 to 8 described in sample rate current calibration method.
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