CN108964552A - Unmanned plane current of electric closed loop dragging method, device, equipment and storage medium - Google Patents
Unmanned plane current of electric closed loop dragging method, device, equipment and storage medium Download PDFInfo
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- CN108964552A CN108964552A CN201810871158.4A CN201810871158A CN108964552A CN 108964552 A CN108964552 A CN 108964552A CN 201810871158 A CN201810871158 A CN 201810871158A CN 108964552 A CN108964552 A CN 108964552A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
Abstract
The invention discloses a kind of unmanned plane current of electric closed loop dragging method, device, equipment and storage mediums.The above method includes: to apply the first current phasor to motor stator winding, and the direct-axis current value of the first current phasor is predetermined value, and quadrature axis current value is 0；Direct-axis voltage value and quadrature-axis voltage value are obtained respectively；Direct-axis voltage value and quadrature-axis voltage value are converted to obtain corresponding ALPHA shaft voltage value and BETA shaft voltage value；ALPHA shaft voltage value and BETA shaft voltage value are modulated to obtain motor three-phase current signal, and three-phase current signal is inputted into motor and drags its work；The three-phase current sampled current value of motor is obtained respectively, and three-phase current sampled current value is converted to obtain corresponding direct-axis current value of feedback and quadrature axis current value of feedback；Value of feedback is fed back into the first current phasor, realizes current closed-loop and dragging motor work.It is poor that method disclosed by the invention solves unmanned plane motor open loop dragging stage V/F drive technology load capacity, the problems such as easy step-out.
Description
Technical field
The invention belongs to unmanned plane motor drag technical field, specifically a kind of unmanned plane current of electric closed loop dragging
Method, apparatus, equipment and storage medium.
Background technique
Electronic Development of UAV is swift and violent in recent years, in military affairs, public security, agricultural, the fields such as take photo by plane with extensive.At present nobody
The machine overwhelming majority all uses permanent magnet synchronous motor to drive.Permanent magnet brushless motor structure is simple, small in size, operational efficiency is high, power
Factor is high, rotary inertia is small, is widely used in the drive systems such as space flight, electric car.
Unmanned plane motor can not feed back motor rotor position angle due to the particularity of its structure using sensor, can only
Motor rotor position angle is fed back using sensorless strategy technology；Simultaneously because motor is saliency also weaker, therefore only
The position of rotor can be detected using the rotor-position observation technology based on counter electromotive force；On the other hand, since motor exists
When zero speed or very low revolving speed, counter electromotive force very little, therefore first open loop drive technology can only be used unmanned plane motor drag
Motor is controlled to after certain revolving speed, then using speed closed loop control system, carries out the rotor-position observation based on counter electromotive force.
In existing open loop drive technology, constant voltage and frequency ratio drive technology (i.e. V/F drive technology) has obtained widely making
With.But V/F open loop drive technology is not particularly suited for the permanent magnet synchronous motor in unmanned plane.Firstly, in V/F opened loop control,
The speed dynamic characteristic of permanent magnet synchronous motor is very poor, and motor torque utilization rate is low, it is also necessary to be joined according to the characteristic of load to control
Number makes corresponding adjustment.Especially when low speed controls, influenced by Stator resistance voltage dropping and inverter switching device delay, system
It is possible that unstable phenomenon, is easy to make permanent magnet synchronous motor step-out or shut down, it will appear permanent magnet mistake when serious
Magnetic makes the case where motor damage.The reasonable disposition range of permanent magnet synchronous motor V/F curve is narrow simultaneously, and small voltage/
Frequency configuration error will seriously affect the load capacity and stable operation ability of system, therefore the V/F for debugging magneto is bent
Line is relatively difficult, is not suitable for the high varying load occasion of dynamic performance requirements.
Accordingly, V/F dragging load capacity is very poor, bad dynamic performance, and debugs difficulty, drags easy step-out, and
Unmanned plane motor load is propeller, and load changes with the variation of revolving speed, therefore V/F dragging is not suitable for unmanned electromechanics
Machine dragging.
Therefore, there is an urgent need to develop the dress of a kind of unmanned plane motor open loop dragging method and application this method now
It sets, equipment and storage medium.It is that unmanned plane motor proposes a kind of new speed open loop drive technology by this method, solves without V/
The problems such as F drive technology load capacity is poor, easy step-out.
Summary of the invention
In view of drawbacks described above of the existing technology or deficiency, the purpose of the present invention is to provide a kind of unmanned plane motor electricity
Flow closed loop dragging method, device, equipment and storage medium.Unmanned plane motor provided by the invention gives direct-axis current dragging method
It is poor to can solve unmanned plane motor open loop dragging stage V/F drive technology load capacity, the problems such as easy step-out, while solving nothing
Man-machine motor drag stability, it is anti-interference the problems such as, and adjustment method is simple.
To achieve the above object, the present invention provides a kind of unmanned plane current of electric closed loop dragging method, which is characterized in that packet
Include following steps:
Applying the first current phasor to motor stator winding, the direct-axis current value of first current phasor is predetermined value,
Quadrature axis current value is 0；
Direct-axis voltage value and quadrature-axis voltage value are obtained respectively；
The direct-axis voltage value and quadrature-axis voltage value are converted to obtain corresponding ALPHA shaft voltage value and BETA shaft voltage
Value；
The ALPHA shaft voltage value and BETA shaft voltage value are modulated to obtain motor three-phase current signal, and by institute
State three-phase current signal input motor and dragging motor work；
The three-phase current sampled current value of motor is obtained respectively, and converts the three-phase current sampled current value to obtain phase
The direct-axis current value of feedback and quadrature axis current value of feedback answered；
The direct-axis current value of feedback and quadrature axis current value of feedback are fed back into first current phasor, realize that electric current closes
Ring simultaneously drags the work of unmanned plane motor.
Further, above-mentioned unmanned plane current of electric closed loop dragging method further include:
Original position of electric motor's rotator angle is obtained, and controls motor rotor position angle.
Further, the motor rotor position angle is applied to PARK transformation and anti-PARK is converted.
Further, the direct-axis voltage value and quadrature-axis voltage value convert to obtain corresponding ALPHA axis electricity by anti-PARK
Pressure value and BETA shaft voltage value.
Further, the three-phase current sampled current value of motor converts to obtain corresponding straight by CLARK transformation and PARK
Shaft current value of feedback and quadrature axis current value of feedback.
Further, the direct-axis current value of first current phasor at the uniform velocity rises to predetermined value since 0.
Further, 6%- of the predetermined value of the direct-axis current value of first current phasor in Rated motor load current
In 14% section.
On the other hand, the present invention provides a kind of unmanned plane current of electric closed loop actuator, wherein includes:
Electric current injection unit: apply the first current phasor, the d-axis electricity of first current phasor to motor stator winding
Flow valuve is predetermined value, and quadrature axis current value is 0；
Voltage acquisition unit: it is configured to obtain direct-axis voltage value and quadrature-axis voltage value respectively；
Voltage conversion unit: it is configured to convert the direct-axis voltage value and quadrature-axis voltage value to obtain corresponding ALPHA
Shaft voltage value and BETA shaft voltage value；
Current conversion unit: it is configured to be modulated the ALPHA shaft voltage value and BETA shaft voltage value to obtain electricity
Machine three-phase current signal, and simultaneously dragging motor works by three-phase current signal input motor；
Current sampling unit: being configured to obtain the three-phase current sampled current value of motor respectively, and by the three-phase electricity
Stream sampled current value converts to obtain corresponding direct-axis current value of feedback and quadrature axis current value of feedback；
Current feedback unit: it is configured to feeding back to the direct-axis current value of feedback and quadrature axis current value of feedback into described
One current phasor realizes current closed-loop and drags the work of unmanned plane motor.
Further, above-mentioned unmanned plane current of electric closed loop actuator further include:
Rotor position angle control unit: it is configured to obtain original position of electric motor's rotator angle, and controls motor rotor position
Angle.
Further, the motor rotor position angle is applied to PARK transformation and anti-PARK is converted.
Further, the voltage conversion unit is also configured to the direct-axis voltage value and quadrature-axis voltage value by anti-
PARK converts to obtain corresponding ALPHA shaft voltage value and BETA shaft voltage value.
Further, the current sampling unit is also configured to the three-phase current sampled current value of motor by CLARK
Transformation and PARK convert to obtain corresponding direct-axis current value of feedback and quadrature axis current value of feedback.
Further, the direct-axis current value that the electric current injection unit is also configured to first current phasor is opened from 0
Beginning at the uniform velocity rises to predetermined value.
Further, the predetermined value of the direct-axis current value of first current phasor is in Rated motor load current value
In the section of 6%-14%.
On the other hand, the present invention provides a kind of unmanned plane current of electric closed loop driven equipment, and the equipment includes:
One or more processors；
Data storage, for storing anti-PARK transformation for mula, PARK transformation for mula and CLARK transformation for mula and one
Or multiple programs；
When one or more of programs are executed by one or more of processors, so that one or more of places
It manages device and executes method as described in any one of the above embodiments.
On the other hand, the present invention provides a kind of computer readable storage medium for being stored with computer program, the program quilt
Processor realizes method as described in any one of the above embodiments when executing.
Compared with prior art, the beneficial effects of the present invention are:
1, the unmanned plane current of electric closed loop dragging method exemplified by the present invention, solves existing V/F drive technology
Load capacity is poor, easy step-out and V/F drive technology are not suitable for the problems such as dragging to unmanned plane motor.
2, the unmanned plane current of electric closed loop dragging method exemplified by the present invention controls life by the way of integrated acceleration
At rotor-position angle signal, the smooth dragging of unmanned plane motor can be realized.
3, the unmanned plane current of electric closed loop actuator exemplified by the present invention, by using electric current injection unit, voltage
Acquiring unit, voltage conversion unit, current conversion unit, current sampling unit and current feedback unit and said units
It cooperates with each other, the load capacity for solving existing V/F drive technology is poor, easy step-out and V/F drive technology are not suitable for
The problems such as to the dragging of unmanned plane motor.
4, the unmanned plane current of electric closed loop driven equipment exemplified by the present invention, the calculating by being stored with computer program
Machine readable medium, convenient for the popularization of unmanned plane current of electric closed loop drive technology.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon.
Fig. 1 is the exemplary unmanned plane current of electric closed loop dragging method process schematic of the embodiment of the present invention；
Fig. 2 is the control configuration diagram of the exemplary unmanned plane current of electric closed loop dragging system of the embodiment of the present invention；
Fig. 3 is that the dragging revolving speed matlab in the exemplary unmanned plane current of electric closed loop dragging method of the embodiment of the present invention is imitative
True effect picture (horizontal axis is time shaft, and unit is the second (s), and the longitudinal axis is that rotor drags revolving speed, and unit is radian per second (rad/s))；
Fig. 4 is to drag rotor position angle in the exemplary unmanned plane current of electric closed loop dragging method of the embodiment of the present invention
Matlab simulated effect figure (horizontal axis is time shaft, and unit is the second (s), and the longitudinal axis is rotor position angle, and unit is radian (rad))).
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.In the absence of conflict, the application
In embodiment and embodiment in feature can be combined with each other.It also should be noted that for ease of description, in attached drawing
Illustrate only part relevant to invention.
The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments:
Closed loop refers to current closed-loop in the present embodiment, and open loop refers to revolving speed open loop.
As described in Figure 1, the exemplary a kind of unmanned plane current of electric closed loop dragging method of the present embodiment, comprising the following steps:
Apply the first current phasor to motor stator winding, the direct-axis current value of the first current phasor is predetermined value, and quadrature axis current value is
0；Direct-axis voltage value and quadrature-axis voltage value are obtained respectively；It converts direct-axis voltage value and quadrature-axis voltage value to obtain corresponding ALPHA
Shaft voltage value and BETA shaft voltage value；It is modulated ALPHA shaft voltage value and BETA shaft voltage value to obtain motor three-phase current
Signal, and simultaneously dragging motor works by three-phase current signal input motor；The three-phase current sampled current value of motor is obtained respectively,
And three-phase current sampled current value is converted to obtain corresponding direct-axis current value of feedback and quadrature axis current value of feedback；By direct-axis current
Value of feedback and quadrature axis current value of feedback feed back to the first current phasor, realize current closed-loop and drag the work of unmanned plane motor.It will
The effect that direct-axis current value of feedback and quadrature axis current value of feedback feed back to the first current phasor is exactly to form closed-loop current control.
Above-mentioned unmanned plane current of electric closed loop dragging method further include: obtain original position of electric motor's rotator angle, and control electricity
Machine rotor position angle.
Further, motor rotor position angle is applied to PARK transformation and anti-PARK is converted.
Further, direct-axis voltage value and quadrature-axis voltage value convert to obtain corresponding ALPHA shaft voltage value by anti-PARK
With BETA shaft voltage value.
Further, the three-phase current sampled current value of motor converts to obtain corresponding straight by CLARK transformation and PARK
Shaft current value of feedback and quadrature axis current value of feedback.
Further, the direct-axis current value of the first current phasor at the uniform velocity rises to predetermined value since 0.
Further, 6%-14% of the predetermined value of the direct-axis current value of the first current phasor in Rated motor load current
Section in.
For convenient for the understanding of the present invention, below with the principle of current closed-loop open loop dragging motor of the present invention, in conjunction with implementation
The process to unmanned plane motor drag in example, does further unmanned plane current of electric closed loop dragging method provided by the invention
Description:
Unmanned plane original position of electric motor's rotator is obtained according to the unmanned plane rotor localization method of certain enterprise self-determining research and development
Afterwards, at the uniform velocity increase since 0 to d-axis (d axis) application one under motor stator winding synchronous rotating frame (dq coordinate system)
To the electric current of fixed value const, direct-axis current is labeled as Id_ref；The electric current for keeping quadrature axis (q axis) at the same time is 0, quadrature axis electricity
It fails to be sold at auction and is denoted as Iq_ref.The I as shown in attached drawing figure twoq_ref=0, Id_ref=const.The size of the current value const of direct-axis current
It is generally taken as in 6% to 14% section of Rated motor load current, specific current value can be debugged in actual operation
To adapt to the demand of unmanned plane load.
It is obtained respectively by motor rectangular axis electric current loop PI controller given under synchronous rotating frame (dq coordinate system)
Direct-axis voltage value and quadrature-axis voltage value, direct-axis voltage value are labeled as Vd, quadrature-axis voltage value is labeled as Vq。
By direct-axis voltage value VdWith quadrature-axis voltage value VqBy anti-PARK convert to obtain corresponding ALPHA shaft voltage value and
BETA shaft voltage value, ALPHA shaft voltage value are labeled as Valpha, BETA shaft voltage value is labeled as Vbeta。
It will by space vector pulse width modulation device SVPWM (space vector pulse width modulation)
ALPHA shaft voltage value ValphaWith BETA shaft voltage value VbetaModulation obtains the three-phase current signal of control motor switch pipe, realizes
Unmanned plane motor open loop dragging.
During unmanned plane motor open loop dragging, unmanned plane motor is obtained using sampling resistor or Hall sensor
Three-phase current sampled current value, and the three-phase current sampled current value of motor is converted to obtain phase by CLARK transformation and PARK
The direct-axis current value of feedback and quadrature axis current value of feedback answered, direct-axis current value of feedback are labeled as Id_fed, quadrature axis current value of feedback mark
It is denoted as Iq_fed。
Under unmanned plane motor synchronous rotating frame (dq coordinate system), the input value of d-axis (d axis) electric current loop is Id_ref
=const, value of feedback Id_fed, the direct-axis voltage value of PI controller output is Vd；The input value of quadrature axis (q axis) electric current loop is
Iq_ref=0, value of feedback Iq_fed, the quadrature-axis voltage value of PI controller output is Vq, to realize current closed-loop open loop dragging
Unmanned plane motor.
The rotor position angle of Park transformation and anti-Park transformation, is labeled as θ in unmanned plane motor drag control process, by
Rotor-position angle controller is given, as shown in theta in attached drawing Fig. 2.In order to guarantee the control flatness of whole system, rotor position
Angle setting controller obtains given rotor position angle theta using acceleration a integral.I.e.
ω=∫ adt
Theta=∫ ω dt+ θ0
In formula, θ0For initial position angle of rotor.
The exemplary unmanned plane motor of the present embodiment is permanent magnetic brushless.
Attached drawing Fig. 3 is dragging revolving speed matlab simulated effect figure；It can be seen that, dragging revolving speed is smooth, nothing from attached drawing Fig. 3
Left and right reversion concussion situation generates, and with the increase of revolving speed, revolving speed is more and more smooth.
Attached drawing Fig. 4 is rotor position angle matlab simulated effect figure, and wherein initial position angle of rotor isFrom attached drawing
In Fig. 4 can in see, rotor is from initial position angleStart to drag, be generated in dragging process without concussion situation.
Exemplary unmanned plane current of electric closed loop dragging side through this embodiment can see by attached drawing Fig. 3 and attached drawing Fig. 4
Method can be realized the smooth dragging of unmanned plane motor.
The exemplary unmanned plane current of electric closed loop dragging method of the present embodiment, except existing V/F drive technology, completely newly
Propose a kind of novel unmanned plane motor drag method, thus the load capacity for solving existing V/F drive technology it is poor, easily
Step-out and it is not suitable for technical problems such as unmanned plane motor drags.
A kind of unmanned plane current of electric closed loop actuator that the present embodiment also provides, comprising:
Electric current injection unit: apply the first current phasor, the d-axis electricity of first current phasor to motor stator winding
Flow valuve is predetermined value, and quadrature axis current value is 0；
Voltage acquisition unit: it is configured to obtain direct-axis voltage value and quadrature-axis voltage value respectively；
Voltage conversion unit: it is configured to convert the direct-axis voltage value and quadrature-axis voltage value to obtain corresponding ALPHA
Shaft voltage value and BETA shaft voltage value；
Current conversion unit: it is configured to be modulated the ALPHA shaft voltage value and BETA shaft voltage value to obtain electricity
Machine three-phase current signal, and simultaneously dragging motor works by three-phase current signal input motor；
Current sampling unit: being configured to obtain the three-phase current sampled current value of motor respectively, and by the three-phase electricity
Stream sampled current value converts to obtain corresponding direct-axis current value of feedback and quadrature axis current value of feedback；
Current feedback unit: it is configured to feeding back to the direct-axis current value of feedback and quadrature axis current value of feedback into described
One current phasor realizes current closed-loop and drags the work of unmanned plane motor.
Further, above-mentioned unmanned plane current of electric closed loop actuator further include:
Rotor position angle control unit: it is configured to obtain original position of electric motor's rotator angle, and controls motor rotor position
Angle.
Further, motor rotor position angle is applied to PARK transformation and anti-PARK is converted.
Further, the voltage conversion unit is also configured to the direct-axis voltage value and quadrature-axis voltage value by anti-
PARK converts to obtain corresponding ALPHA shaft voltage value and BETA shaft voltage value.
Further, the current sampling unit is also configured to the three-phase current sampled current value of motor by CLARK
Transformation and PARK convert to obtain corresponding direct-axis current value of feedback and quadrature axis current value of feedback.
Further, the direct-axis current value that the electric current injection unit is also configured to first current phasor is opened from 0
Beginning at the uniform velocity rises to predetermined value.
Further, 6%- of the predetermined value of the direct-axis current value of the first current phasor in Rated motor load current value
In 14% section.
The exemplary unmanned plane current of electric closed loop actuator of the present embodiment, is obtained by using electric current injection unit, voltage
Take the phase of unit, voltage conversion unit, current conversion unit, current sampling unit and current feedback unit and said units
Mutual cooperating, the load capacity for solving existing V/F drive technology is poor, easy step-out and V/F drive technology are not suitable for pair
The technical problems such as the dragging of unmanned plane motor.
A kind of unmanned plane current of electric closed loop driven equipment that the present embodiment also provides, the equipment include:
One or more processors；
Data storage, for storing anti-PARK transformation for mula, PARK transformation for mula and CLARK transformation for mula and one
Or multiple programs；
When one or more of programs are executed by one or more of processors, so that one or more of places
It manages device and executes method as described in any one of the above embodiments.
On the other hand, the present embodiment additionally provides a kind of computer readable storage medium for being stored with computer program, should
Method as described in any one of the above embodiments is realized when program is executed by processor.
The exemplary unmanned plane current of electric closed loop driven equipment of the present embodiment, the computer by being stored with computer program
Readable medium, convenient for the popularization of unmanned plane current of electric closed loop drive technology.
Remove outer described in embodiment one, the exemplary unmanned plane current of electric closed loop dragging method of the present invention, device, equipment
And to can be also used for brushless, permanently straight other than the open loop that can be used for permanent-magnet brushless AC motor (PMSM) drags for storage medium
The open loop of galvanic electricity machine (BLDCM) drags.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (16)
1. a kind of unmanned plane current of electric closed loop dragging method, which comprises the following steps:
Apply the first current phasor to motor stator winding, the direct-axis current value of first current phasor is predetermined value, quadrature axis
Current value is 0；
Direct-axis voltage value and quadrature-axis voltage value are obtained respectively；
The direct-axis voltage value and quadrature-axis voltage value are converted to obtain corresponding ALPHA shaft voltage value and BETA shaft voltage value；
The ALPHA shaft voltage value and BETA shaft voltage value are modulated to obtain motor three-phase current signal, and by described three
Phase current signal inputs motor and dragging motor work；
The three-phase current sampled current value of motor is obtained respectively, and the three-phase current sampled current value is converted to obtain accordingly
Direct-axis current value of feedback and quadrature axis current value of feedback；
The direct-axis current value of feedback and quadrature axis current value of feedback are fed back into first current phasor, realize current closed-loop simultaneously
Drag the work of unmanned plane motor.
2. unmanned plane current of electric closed loop dragging method according to claim 1, which is characterized in that further include:
Original position of electric motor's rotator angle is obtained, and controls motor rotor position angle.
3. unmanned plane current of electric closed loop dragging method according to claim 2, which is characterized in that by the rotor
Position angle is applied to PARK transformation and anti-PARK transformation.
4. unmanned plane current of electric closed loop dragging method according to claim 3, which is characterized in that the direct-axis voltage value
It converts to obtain corresponding ALPHA shaft voltage value and BETA shaft voltage value by anti-PARK with quadrature-axis voltage value.
5. unmanned plane current of electric closed loop dragging method according to claim 3, which is characterized in that the three-phase current of motor
Sampled current value converts to obtain corresponding direct-axis current value of feedback and quadrature axis current value of feedback by CLARK transformation and PARK.
6. unmanned plane current of electric closed loop dragging method described in -5 according to claim 1, which is characterized in that first electric current
The direct-axis current value of vector at the uniform velocity rises to predetermined value since 0.
7. unmanned plane current of electric closed loop dragging method according to claim 6, which is characterized in that the first electric current arrow
The predetermined value of the direct-axis current value of amount is in the section of the 6%-14% of Rated motor load current.
8. a kind of unmanned plane current of electric closed loop actuator characterized by comprising
Electric current injection unit: apply the first current phasor, the direct-axis current value of first current phasor to motor stator winding
For predetermined value, quadrature axis current value is 0；
Voltage acquisition unit: it is configured to obtain direct-axis voltage value and quadrature-axis voltage value respectively；
Voltage conversion unit: it is configured to that the direct-axis voltage value and quadrature-axis voltage value are converted to obtain corresponding ALPHA axis electricity
Pressure value and BETA shaft voltage value；
Current conversion unit: it is configured to be modulated the ALPHA shaft voltage value and BETA shaft voltage value to obtain motor three
Phase current signal, and simultaneously dragging motor works by three-phase current signal input motor；
Current sampling unit: it is configured to obtain the three-phase current sampled current value of motor respectively, and the three-phase current is adopted
Sample current value converts to obtain corresponding direct-axis current value of feedback and quadrature axis current value of feedback；
Current feedback unit: it is configured to feeding back to the direct-axis current value of feedback and quadrature axis current value of feedback into first electricity
Flow vector realizes current closed-loop and drags the work of unmanned plane motor.
9. unmanned plane current of electric closed loop actuator according to claim 8, which is characterized in that described device is also wrapped
It includes:
Rotor position angle control unit: it is configured to obtain original position of electric motor's rotator angle, and controls motor rotor position angle.
10. unmanned plane current of electric closed loop actuator according to claim 9, which is characterized in that turn the motor
Sub- position angle is applied to PARK transformation and anti-PARK transformation.
11. unmanned plane current of electric closed loop actuator according to claim 10, which is characterized in that the voltage conversion
Unit is also configured to the direct-axis voltage value and quadrature-axis voltage value and converts to obtain corresponding ALPHA shaft voltage value by anti-PARK
With BETA shaft voltage value.
12. unmanned plane current of electric closed loop actuator according to claim 10, which is characterized in that the current sample
The three-phase current sampled current value that unit is also configured to motor converts to obtain corresponding d-axis electricity by CLARK transformation and PARK
Flow value of feedback and quadrature axis current value of feedback.
13. according to unmanned plane current of electric closed loop actuator described in claim 8-12, which is characterized in that the electric current note
Enter unit and be also configured to the direct-axis current value of first current phasor at the uniform velocity to rise to predetermined value since 0.
14. unmanned plane current of electric closed loop actuator according to claim 13, which is characterized in that first electric current
The predetermined value of the direct-axis current value of vector is in the section of the 6%-14% of Rated motor load current value.
15. a kind of unmanned plane current of electric closed loop driven equipment, which is characterized in that the equipment includes:
One or more processors；
Data storage, for storing anti-PARK transformation for mula, PARK transformation for mula and CLARK transformation for mula and one or more
A program；
When one or more of programs are executed by one or more of processors, so that one or more of processors
Execute such as method of any of claims 1-7.
16. a kind of computer readable storage medium for being stored with computer program, which is characterized in that the program is executed by processor
Shi Shixian method for example of any of claims 1-7.
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| CN111987942A (en) * | 2019-05-21 | 2020-11-24 | 顺丰科技有限公司 | Unmanned aerial vehicle motor dragging method and system |
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| CN105186956A (en) * | 2015-08-31 | 2015-12-23 | 许继集团有限公司 | Sensorless permanent-magnet synchronous motor starting control method and corresponding system |
| CN105703682A (en) * | 2015-12-18 | 2016-06-22 | 华南理工大学 | Position sensor-free permanent magnet synchronous motor starting method |
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Application publication date: 20181207 |