CN109450336A - For controlling method, electricity tune, unmanned vehicle and the storage medium of motor rotation - Google Patents
For controlling method, electricity tune, unmanned vehicle and the storage medium of motor rotation Download PDFInfo
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- CN109450336A CN109450336A CN201811237395.1A CN201811237395A CN109450336A CN 109450336 A CN109450336 A CN 109450336A CN 201811237395 A CN201811237395 A CN 201811237395A CN 109450336 A CN109450336 A CN 109450336A
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- Prior art keywords
- motor
- pulse
- signal
- pulsewidth
- rotation direction
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Classifications
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/24—Controlling the direction, e.g. clockwise or counterclockwise
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control; Arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Abstract
Embodiment of the present invention provides a kind of method, electron speed regulator, unmanned vehicle and storage medium rotated for controlling motor, belongs to Motor Control Field.The method for controlling motor rotation includes: acquisition steering controling signal, wherein the pulse characteristic of the steering controling signal is associated with the rotation direction of the motor；And the rotation direction of the motor is determined according to the pulse characteristic.Technical solution of the present invention can determine the rotation direction of motor by detecting the pulse characteristic of steering controling signal, so that the motor of different location can use the identical mode of connection in motor wiring, simplify motor assembling flow path.
Description
Technical field
The present invention relates to Motor Control Fields, more particularly to a kind of method for controlling motor rotation, electronic speed regulation
Device, unmanned vehicle and storage medium.
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.Motor generallys use three-phase motor, is connect by three phase connections with three output ends of electron speed regulator.
Since more rotors need to offset the anti-twisted power generated when propeller rotation, generally by the way of even number paddle, use
The anti-twisted power that the mode of multipair positive and negative paddle generates come the rotation that cancels each other out.Electron speed regulator needs basis when controlling motor in this way
The direction of rotation of position selection propeller.Existing mode is generally taken, by the three piece-root grafting lines and electron speed regulator of motor
Three be connected to each other, realize the reversion of motor by exchanging two-phase therein.And in electron speed regulator it is really same rotation
Direction.This mode of operation is cumbersome, needs banjo one by one and checks steering.In addition, to simplify the grafting of connector movement, it is existing
Have and generally use three-in-one connector completion grafting in mode, only needs a grafting in this way, electron speed regulator can be changed quickly
Or motor.But the steering variation of motor so just needs to turn motor wiring or electron speed regulator wiring, it is therefore desirable to use
At least two there are the motor models of the different modes of connection to realize, however in actual production and stock, using two models
Maintenance of motor can bring the increase of Material Cost, inventory cost.
Summary of the invention
To solve the above-mentioned problems in the prior art, the purpose of embodiment of the present invention is to provide a kind of for controlling
Method, electron speed regulator, unmanned vehicle and the storage medium of motor rotation.
To achieve the goals above, in the first aspect of the present invention, a kind of method for controlling motor rotation, institute are provided
The method of stating includes: acquisition steering controling signal, wherein the rotation side of the pulse characteristic of the steering controling signal and the motor
To associated；And the rotation direction of the motor is determined according to the pulse characteristic.
Optionally, the method also includes: according to determining rotation direction, the rotation of Xiang Suoshu motor input and the determination
The corresponding driving signal in direction is rotated with controlling the motor with the rotation direction of the determination.
Optionally, the steering controling signal includes pulse signal, the pulse characteristic include it is following at least one: arteries and veins
Width, pulse width variations rate, the quantity of pulse signal within the scope of predetermined pulse width, distinct pulse widths pulse signal timing and pulsewidth
Changing rule.
Optionally, the pulsewidth of the pulse signal is less than the starting pulsewidth of electron speed regulator.
Optionally, the pulse characteristic includes pulsewidth, the rotation side that the motor is determined according to the pulse characteristic
To including: the multiple continuous pulse signals of detection；Calculate the average value of the pulsewidth of multiple pulse signals；And according to
The average value determines the rotation direction of the motor.
Optionally, the average value of the pulsewidth for calculating multiple pulse signals includes: to calculate pulsewidth in preset range
The average value of the pulsewidth of interior multiple pulse signals；Or calculate the pulse signal and minimum pulse width for filtering out maximum pulse width
The average value of multiple pulse signals after pulse signal.
Optionally, the driving signal is voltage signal, turn in the direction of the voltage signal and the motor determined
Dynamic directional correlation connection.
In the second aspect of the present invention, embodiment of the present invention also provides a kind of electron speed regulator, the electron speed regulator
Include: communication interface, be configured to obtain steering controling signal, wherein the pulse characteristic of the steering controling signal and the electricity
The rotation direction of machine is associated；And control module, it is configured to determine the rotation side of the motor according to the pulse characteristic
To.
Optionally, the control module is further configured to: true with this to motor input according to determining rotation direction
The corresponding driving signal of fixed rotation direction is rotated with controlling the motor with the rotation direction of the determination.
Optionally, the steering controling signal includes pulse signal, the pulse characteristic include it is following at least one: arteries and veins
Width, pulse width variations rate, the quantity of pulse signal within the scope of predetermined pulse width, distinct pulse widths pulse signal timing and pulsewidth
Changing rule.
Optionally, the pulsewidth of the pulse signal is less than the starting pulsewidth of electron speed regulator.
Optionally, the pulse characteristic includes pulsewidth, and the control module determines the motor according to the pulse characteristic
Rotation direction include: to detect continuous multiple pulse signals；Calculate the average value of the pulsewidth of multiple pulses；And
The rotation direction of the motor is determined according to the average value.
Optionally, it includes: to calculate pulsewidth to exist that the control module, which calculates the average value of the pulsewidth of multiple pulse signals,
The average value of the pulsewidth of multiple pulse signals in preset range；Or calculate the pulse signal and most for filtering out maximum pulse width
The average value of multiple pulse signals after the pulse signal of small pulsewidth.
Optionally, the driving signal is voltage signal, turn in the direction of the voltage signal and the motor determined
Dynamic directional correlation connection.
In the third aspect of the present invention, embodiment of the present invention also provides a kind of unmanned vehicle, the unmanned vehicle
Including propeller, the motor for driving the propeller rotational, the unmanned vehicle further include: above-mentioned electronic speed regulation
Device；And flight controller, for the predetermined rotation according to the motor, Xiang Suoshu electron speed regulator sends corresponding turn
To control signal.
In the fourth aspect of the present invention, embodiment of the present invention also provides a kind of machine readable storage medium, which can
It reads to be stored with instruction on storage medium, which is used for so that electron speed regulator executes above-mentioned method.
Above-mentioned technical proposal of the present invention can determine the rotation of motor by detecting the pulse characteristic of steering controling signal
Direction simplifies motor assembling stream so that the motor of different location can use the identical mode of connection in motor wiring
Journey.In addition, three-in-one connector can be directly used and carry out grafting, to improve assembly efficiency when carrying out motor wiring.It is using
When three-in-one connector carries out grafting, without selecting various types of motors, to reduce Material Cost and inventory cost.
The other feature and advantage of embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to embodiment of the present invention, and constitute part of specification, with
Following specific embodiment is used to explain the present invention embodiment together, but does not constitute the limit to embodiment of the present invention
System.In the accompanying drawings:
Fig. 1 is the flow chart for the method for controlling motor rotation that one embodiment of the present invention provides；
Fig. 2 is the flow chart for the method for controlling motor rotation that a kind of optional embodiment of the present invention provides；
Fig. 3 is the stream of the method for the rotation direction that motor is determined according to pulsewidth that a kind of optional embodiment of the present invention provides
Cheng Tu；
Fig. 4 is the schematic diagram for the unmanned vehicle that a kind of optional embodiment of the present invention provides；
Fig. 5 is the block diagram for the electron speed regulator that a kind of optional embodiment of the present invention provides；And
Fig. 6 is the block diagram for the unmanned vehicle that a kind of optional embodiment of the present invention provides.
Description of symbols
10 electron speed regulator, 20 motor
30 flight controller, 40 propeller
11 communication interface, 12 control module
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to embodiment of the present invention.It should be understood that
Embodiment that the specific embodiments described herein are merely illustrative of the invention is not intended to restrict the invention implementation
Mode.
In embodiments of the present invention, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower, top, bottom "
Usually for direction shown in the drawings either for it is vertical, vertically or on gravity direction for each component it is mutual
Positional relationship describes word.
Fig. 1 is the flow chart for the method for controlling motor rotation that one embodiment of the present invention provides.Such as Fig. 1 institute
Show, embodiment of the present invention provides a kind of method for controlling motor rotation, which comprises
Step S10 obtains steering controling signal, wherein the rotation direction phase of the pulse characteristic of steering controling signal and motor
Association；
Step S20 determines the rotation direction of motor according to pulse characteristic.
In this way, the rotation direction of motor can be determined by detecting the pulse characteristic of steering controling signal, thus in electricity
When machine wiring, the motor of different location can use the identical mode of connection, simplify motor assembling flow path.In addition, carry out
When motor wiring, three-in-one connector can be directly used and carry out grafting, to improve assembly efficiency.It is carried out using three-in-one connector
When grafting, without selecting various types of motors, to reduce Material Cost and inventory cost.
Specifically, the rotation direction of motor can for example be carried out by electron speed regulator corresponding to the motor (i.e. electricity is adjusted)
Control.Electron speed regulator can receive steering controling signal, and detect the pulse characteristic of steering controling signal.Steering controling signal
Pulse characteristic it is associated with the rotation direction of motor, the rotation direction of each motor can be true in advance according to its position
It is fixed.Therefore, electron speed regulator can determine the rotation direction of motor by detecting the pulse characteristic of steering controling signal, thus
Without changing the mode of connection of different location motor or using the motor of different model in different location.
Fig. 2 is the flow chart for the method for controlling motor rotation that a kind of optional embodiment of the present invention provides.Such as Fig. 2
It is shown, the method for controlling motor rotation further include:
Step S30 inputs driving letter corresponding with the rotation direction of the determination to motor according to determining rotation direction
Number, it is rotated with controlling motor with the rotation direction of the determination.
In this way, in the case where the pulse characteristic by detecting steering controling signal has determined the rotation direction of motor, it can
To control motor by sending driving signal corresponding with the rotation direction to motor with the rotation direction of the determination and rotate, from
And the motor of different location may be implemented and rotated with the rotation direction of the corresponding position.
Specifically, electron speed regulator for example can at least generate two different driving signals, two different drivings
Signal can be respectively used to driving motor and rotate forward (being rotated clockwise) and reversion (being rotated in the counterclockwise direction).Work as electricity
It, can be to motor input and the rotation when sub- governor has determined the rotation direction of motor according to the pulse characteristic of steering controling signal
The corresponding driving signal in direction is rotated with controlling motor with the rotation direction.
In an alternative embodiment of the invention, steering controling signal may include pulse signal, and pulse characteristic can wrap
Include it is following at least one: the pulse of pulsewidth, pulse width variations rate, the quantity, distinct pulse widths of pulse signal within the scope of predetermined pulse width
Timing and the pulse width variations rule of signal.
Specifically, steering controling signal may include at least one pulse signal, which can be, for example, PPM
(Pulse Position Modulaiton, pulse position modulation) signal, electron speed regulator can pass through detection PPM signal
The timing and pulsewidth of the pulse signal of pulsewidth, pulse width variations rate, the quantity of pulse signal within the scope of predetermined pulse width, distinct pulse widths
At least one of changing rule determines the rotation direction of motor.
Wherein, PPM signal is typically the square-wave signal of certain frequency, and electron speed regulator can be based on PPM signal
Pulsewidth (i.e. the width of the positive pulse of PPM signal) controls motor speed.The frequency range of PPM signal is generally 40-400Hz,
Pulsewidth is generally 800-2000 μ s.After the pulsewidth of PPM signal is greater than a certain value (i.e. starting pulsewidth, generally 1100 μ s), electricity
Sub- governor starting, motor start running；When the pulsewidth of PPM signal is less than starting pulsewidth (such as 1100 μ s), electronic speed regulation
Device does not start or stalls, and motor does not also start or stalls.It is thereby possible to select at least one frequency range 40-400Hz it
Between, pulsewidth be less than the PPM signal of starting pulsewidth as steering controling signal, and after electron speed regulator powers on, to electronic speed regulation
Device sends the PPM signal that frequency meets said frequencies range and pulsewidth is less than above-mentioned starting pulsewidth, so that electron speed regulator exists
Before starting, it can determine that it corresponds to the rotation direction of motor.It, can be again to electronic speed regulation after determining the rotation direction of motor
Device sends the PPM signal that frequency meets said frequencies range and pulsewidth is greater than above-mentioned starting pulsewidth, to control electron speed regulator
Starting.After electron speed regulator starting, the driving signal of the corresponding rotation direction is sent to control motor with the rotation side to motor
To rotation.
For example, after electron speed regulator powers on, it can check whether that receiving frequency meets said frequencies range (i.e.
40-400Hz) and pulsewidth is less than the PPM signal for starting pulsewidth (such as 1100 μ s).If not detecting satisfaction in certain time
The PPM signal of above-mentioned condition then will do it abnormal signal alarm.If detecting the PPM signal for meeting above-mentioned condition, basis
The pulse characteristic of PPM signal determines the rotation direction of motor.Wherein electron speed regulator meets electricity in the pulse characteristic of PPM signal
When machine rotates forward condition, determine that the rotation direction of motor is to rotate forward, when the pulse characteristic of PPM signal meets motor reversal condition,
Determine the rotation direction of motor for reversion.If the pulse characteristic of PPM signal had both been unsatisfactory for rotating forward condition, it is also unsatisfactory for reversion item
Part then carries out abnormal signal alarm, leads to hardware damage to avoid motor steering mistake.Wherein, special according to the pulse of PPM signal
Property determines there are many modes of the rotation direction of motor, illustrates respectively below by way of different embodiments.In order to just
In statement, unless otherwise stated, the frequency range of below-mentioned PPM signal is between 40-400Hz and pulsewidth is small
In starting pulsewidth.
In a kind of optional embodiment of the present invention, pulse characteristic may include pulsewidth, and electron speed regulator can pass through inspection
The pulsewidth of PPM signal is surveyed to determine the rotation direction of motor.For example, the pulsewidth for working as the PPM signal that electron speed regulator receives exists
When within the scope of 850 ± 10 μ s, the rotation direction of motor can be determined to rotate forward；When the PPM signal that electron speed regulator receives
When pulsewidth is within the scope of 900 ± 10 μ s, the rotation direction of motor can be determined for reversion.
In another optional embodiment of the invention, steering controling signal may include multiple PPM signals, pulse characteristic
It may include pulse width variations rate, electron speed regulator can determine electricity by detecting the pulse width variations rate between multiple PPM signals
The rotation direction of machine.For example, electron speed regulator can receive at least two PPM signals, and record each PPM signal pulsewidth and
The time of reception, then according to the pulsewidth of PPM signal and in the unit of account time time of reception pulsewidth change rate.Different pulsewidths
Change rate can correspond to different direction of motor rotation.Wherein, the change rate of pulsewidth can be for example by with not in the unit time
Difference between the pulsewidth of the PPM signal received in the same time is obtained divided by the difference between the time of reception.
In another optional embodiment of the invention, pulse characteristic may include the pulse signal within the scope of predetermined pulse width
Quantity, electron speed regulator can determine the rotation side of motor by the quantity of the PPM signal within the scope of detection predetermined pulse width
To.Specifically, a pulse duration range can be preset, electron speed regulator can be by detection in the pulse duration range
The quantity of PPM signal determines the rotation direction of motor.For example, can set when the PPM signal within the scope of predetermined pulse width
Quantity when being odd number, the rotation direction of corresponding motor is to rotate forward, when the quantity of the PPM signal within the scope of predetermined pulse width is
When even number, the rotation direction of corresponding motor is reversion.Alternatively, can also set when the PPM signal within the scope of predetermined pulse width
Quantity less than a preset threshold when, the rotation direction of corresponding motor is to rotate forward, when the PPM signal within the scope of predetermined pulse width
Quantity when being more than or equal to the preset threshold, the rotation direction of corresponding motor is reversion.Wherein, predetermined pulse width range can be such as
It is set as being less than starting pulsewidth, or also can be set as in the other pulse duration ranges being less than in starting pulse duration range.It needs
Bright, the quantity of the PPM signal within the scope of predetermined pulse width detected by electron speed regulator can be electron speed regulator pre-
If period in PPM signal within the scope of the predetermined pulse width that detects quantity, or electron speed regulator is receiving
The quantity of the PPM signal within the scope of predetermined pulse width detected before pick-off signal.Wherein, the pulsewidth of pick-off signal is less than starting arteries and veins
It is wide and not within the scope of above-mentioned predetermined pulse width.
In another optional embodiment of the invention, steering controling signal may include multiple PPM signals, pulse characteristic
It may include the timing of the pulse signal of distinct pulse widths, electron speed regulator can have the PPM signal of distinct pulse widths by detecting
Timing determine the rotation direction of motor.For example, the pulsewidth of the first PPM signal can be set as X, the arteries and veins of the second PPM signal
Width is Y, when being arranged as X, Y of pulsewidth for two PPM signals that electron speed regulator continuously receives, determines the rotation side of motor
To rotate forward, when being arranged as Y, X of pulsewidth for two PPM signals that electron speed regulator continuously receives, the rotation of motor is determined
Turn direction as reversion.If the arrangement of the pulsewidth of two PPM signals is not belonging to above situation (for example, X, X or Y, Y), feed back
Error signal, and determine by receiving PPM signal again the direction of rotation of motor.It is understood that above-mentioned distinct pulse widths
The quantity of pulse signal be not limited to two, can also for three, four or more.Electron speed regulator can pass through detection
The arrangement mode of multiple pulse signals with distinct pulse widths determines the direction of rotation of motor.In present embodiment, pass through inspection
The arrangement mode of the pulse signal of distinct pulse widths is surveyed to determine the direction of rotation of motor, judging result is more acurrate, can effectively avoid
The generation of the case where direction of rotation of false judgment motor.
In another optional embodiment of the invention, steering controling signal may include multiple PPM signals, pulse characteristic
It may include pulse width variations rule, electron speed regulator can determine motor by the changing rule of the pulsewidth of detection PPM signal
Rotation direction.For example, can be determined when the pulsewidth for multiple PPM signals that electron speed regulator is consecutively detected successively increases
The direction of rotation of motor is to rotate forward, can be with when the pulsewidth for multiple PPM signals that electron speed regulator is consecutively detected successively is reduced
Determine the direction of rotation of motor for reversion.
The rotation that determines motor is had been illustrated above by different embodiments according to the pulse characteristic of PPM signal
The method in direction.Electron speed regulator can determine the rotation of motor by any one in above embodiment the method
Method described in above embodiment can also be combined the rotation direction to determine motor by direction, be turned to improve motor
To the accuracy of judgement.For example, electron speed regulator can determine motor according to pulse width variations rate and pulse width variations rule simultaneously
Rotation direction, and when the rotation direction for determining motor according to pulse width variations rate and pulse width variations rule is to rotate forward, electronics
Governor just determines that the rotation direction of motor is to rotate forward；When turn for determining motor according to pulse width variations rate and pulse width variations rule
When dynamic direction is reversion, electron speed regulator just determines that the rotation direction of motor is reversion.
In addition, though above-mentioned illustrate by PPM signal of pulse signal, but pulse signal is not limited to PPM signal, may be used also
Think PWM (Pulse Width Modulation, pulsewidth modulation) signal etc..
Fig. 3 is the stream of the method for the rotation direction that motor is determined according to pulsewidth that a kind of optional embodiment of the present invention provides
Cheng Tu.As shown in figure 3, in a kind of optional embodiment of the present invention, when the pulsewidth according to pulse signal determines the rotation of motor
When direction, step S20 be may comprise steps of:
Step S21 detects multiple continuous pulse signals；
Step S22 calculates the average value of the pulsewidth of multiple pulse signals；
Step S22 determines the rotation direction of motor according to average value.
In this way, determining the rotation direction of motor by the average value of the pulsewidth of multiple pulse signals, motor can be improved
The accuracy of judgement is turned to, and reduces the influence of noise and error signal during pulse signal acquisition.
Specifically, steering controling signal may include multiple pulse signals, which can be, for example, PPM signal.
Electron speed regulator can continuously detect the pulsewidth of for example N number of PPM signal, and determine turning for motor according to the average value of N number of pulsewidth
Dynamic direction.For example, can determine that the rotation direction of motor is to rotate forward when the average value of pulsewidth is within the scope of 850 ± 10 μ s, when
When the average value of pulsewidth is within the scope of 900 ± 10 μ s, the rotation direction of motor can be determined for reversion.In the rotation for determining motor
Behind direction, electron speed regulator driving motor can be rotated under conditions of not power down with the steering.
In a kind of optional embodiment of the present invention, above-mentioned steps S22 may include: to calculate pulsewidth within a predetermined range
The average value of the pulsewidth of multiple pulse signals.For example, if the average value of setting pulsewidth is within the scope of 850 ± 10 μ s,
The rotation direction of motor is to rotate forward, and when the average value of pulsewidth is within the scope of 900 ± 10 μ s, the rotation direction of motor is reversion, then
Preset range can be set and be Dinged as ﹙ 830 μ s, 870 μ s ﹚ ∪ ﹙ 880 μ s, 820 μ s ﹚.Pulsewidth is only calculated in 850 ± 20 μ s or 900
The average value of the pulsewidth of pulse signal within the scope of ± 20 μ s.In this way, by limit pulse signal pulsewidth come filter out noise and
Error signal can reduce the influence of noise and error signal during pulse signal acquisition, improve the standard of motor steering judgement
True property.
In another optional embodiment of the invention, steering controling signal may include three or more pulse signals,
Above-mentioned steps S22 may include: to calculate to filter out multiple arteries and veins after the pulse signal of maximum pulse width and the pulse signal of minimum pulse width
Rush the average value of signal.For example, electron speed regulator can receive three or more pulse signals, and the pulse that will be received
The maximum pulse signal of pulsewidth and the smallest pulse signal of pulse filter out in signal, calculate the pulsewidth of remaining pulse signal
Average value.In this way, noise during pulse signal acquisition can also be reduced by way of filtering out maximum pulse width and minimum pulse width
With the influence of error signal, the accuracy of motor steering judgement is improved.
In a kind of optional embodiment of the present invention, the above-mentioned driving signal inputted to motor can be voltage signal, should
It the direction of voltage signal can be associated with the rotation direction of determining motor.Specifically, electron speed regulator can be defeated to motor
Voltage signal out, to control motor rotation, when the direction of the voltage signal of output changes, the rotation direction of motor also can
Accordingly change.It therefore, can be by adjusting output voltage signal after electron speed regulator determines the rotation direction of motor
Direction controls being rotated with determining rotation direction for motor.
Embodiment of the present invention also provides a kind of machine readable storage medium, and finger is stored on the machine readable storage medium
It enables, which is used for so that electron speed regulator executes above-mentioned method.
Fig. 4 is the schematic diagram for the unmanned vehicle that a kind of optional embodiment of the present invention provides, and Fig. 5 is that one kind of the present invention can
The block diagram for the electron speed regulator for selecting embodiment to provide.As shown in Figure 4 and Figure 5, embodiment of the present invention also provides a kind of electronics
Governor, the electron speed regulator 10 can be used for controlling the motor 20 of unmanned vehicle.Electron speed regulator 10 may include communication
Interface 11 and control module 12.Communication interface 11 may be configured to obtain steering controling signal, wherein the steering controling signal
Pulse characteristic it is associated with the rotation direction of motor 20.Control module 12 may be configured to the arteries and veins according to steering controling signal
Rush the rotation direction that characteristic determines motor 20.Wherein, control module 12 can be, for example, single-chip microcontroller, chip or processor etc..
In this way, the rotation direction of motor can be determined by detecting the pulse characteristic of steering controling signal, thus in electricity
When machine wiring, the motor of different location can use the identical mode of connection, simplify motor assembling flow path.In addition, carry out
When motor wiring, three-in-one connector can be directly used and carry out grafting, to improve assembly efficiency.It is carried out using three-in-one connector
When grafting, without selecting various types of motors, to reduce Material Cost and inventory cost.
Specifically, electron speed regulator 10 can receive steering controling signal by communication interface 11, and pass through control module
The pulse characteristic of 12 detection steering controling signals.The pulse characteristic of steering controling signal is associated with the rotation direction of motor 20,
The rotation direction of each motor 20 can be predefined according to its position.Therefore, electron speed regulator 10 can pass through detection
The pulse characteristic of steering controling signal determines the rotation direction of motor.Relative to existing by changing motor 20 and electronics tune
Certain of fast device 10 two is connected (such as by the end B of the A termination motor 20 of electron speed regulator 10 in Fig. 4, the B of electron speed regulator 10
Terminate the end A of motor 20) technical solution that Lai Shixian motor 20 inverts, present embodiment is without changing connecing for different location motor
Line mode, therefore be easier to assemble.And using three-in-one terminal (the connection phase sequence of motor 20 and electron speed regulator 10 at this time
It is fixed) when, without the various types of motors of selection.
In a kind of optional embodiment of the present invention, control module 12 be can be configured to: according to determining rotation side
Driving signal corresponding with the rotation direction of the determination is inputted to motor 20, to control motor 20 with the rotation direction of the determination
Rotation.
In this way, when control module 12 has determined the rotation direction of motor 20 by detecting the pulse characteristic of steering controling signal
When, motor 20 can be controlled with the rotation side of the determination by sending driving signal corresponding with the rotation direction to motor 20
To rotation, so as to realize that the motor 20 of different location is rotated with the rotation direction of the corresponding position.
In a kind of optional embodiment of the present invention, steering controling signal may include pulse signal, and pulse characteristic can be with
Including it is following at least one: the arteries and veins of pulsewidth, pulse width variations rate, the quantity of pulse signal within the scope of predetermined pulse width, distinct pulse widths
Rush the timing and pulse width variations rule of signal.
Wherein, which can be, for example, PPM (Pulse Position Modulaiton, pulse position modulation)
Signal.PPM signal is the square-wave signal for being typically certain frequency, and electron speed regulator 10 can be based on the pulsewidth of PPM signal
(i.e. the width of the positive pulsewidth of PPM signal) controls the revolving speed of motor 20.The frequency range of PPM signal is generally 40-400Hz,
Pulsewidth is generally 800-2000 μ s.After the pulsewidth of PPM signal is greater than a certain value (i.e. starting pulsewidth, generally 1100 μ s), electricity
Sub- governor 10 starts, and motor 20 starts running；When the pulsewidth of PPM signal is less than starting pulsewidth (such as 1100 μ s), electronics
Governor 10 does not start or stalls, and motor 20 does not also start or stalls.It is thereby possible to select frequency range 40-400Hz it
Between, pulsewidth be less than the PPM signal of starting pulsewidth as steering controling signal, and after electron speed regulator 10 powers on, to electronics tune
Fast device 10 sends the PPM signal that frequency meets said frequencies range and pulsewidth is less than above-mentioned starting pulsewidth, so that electronic speed regulation
Device 10 before being initiated, determines that it corresponds to the rotation direction of motor 20.It, can be again to electricity after the rotation direction for determining motor 20
Sub- governor 10 sends the PPM signal that frequency meets said frequencies range and pulsewidth is greater than above-mentioned starting pulsewidth, to control electricity
Sub- governor 10 starts.After electron speed regulator 10 starts, the driving signal of the corresponding rotation direction is sent to control to motor 20
Motor 20 is with rotation direction rotation.
In a kind of optional embodiment of the present invention, pulse characteristic may include pulsewidth, and control module 12 is according to pulse spy
Property determines that the rotation direction of motor 20 may include:
Detect multiple continuous pulse signals；
Calculate the average value of the pulsewidth of multiple pulse signals；
The rotation direction of motor 20 is determined according to average value.
In a kind of optional embodiment of the present invention, the average value for calculating the pulsewidth of multiple pulse signals may include: meter
Calculate the average value of the pulsewidth of the multiple pulse signals of pulsewidth within a predetermined range.For example, if the average value of setting pulsewidth
When within the scope of 850 ± 10 μ s, the rotation direction of motor 20 is to rotate forward, when the average value of pulsewidth is within the scope of 900 ± 10 μ s, electricity
The rotation direction of machine 20 is reversion, then preset range can be set and be Dinged as ﹙ 830 μ s, 870 μ s ﹚ ∪ ﹙ 880 μ s, 820 μ s ﹚.I.e. only
Calculate the average value of the pulsewidth of pulse signal of the pulsewidth within the scope of 850 ± 20 μ s or 900 ± 20 μ s.In this way, by limiting arteries and veins
The pulsewidth of signal is rushed to filter out noise and error signal, the shadow of noise and error signal during pulse signal acquisition can be reduced
It rings, improves the accuracy of motor steering judgement.
In another optional embodiment of the invention, steering controling signal may include three or more pulse signals,
The average value for calculating the pulsewidth of multiple pulse signals may include: to calculate the pulse signal and minimum pulse width that filter out maximum pulse width
The average value of multiple pulse signals after pulse signal.For example, electron speed regulator can receive three or more pulse letters
Number, and the maximum pulse signal of pulsewidth in the pulse signal received and the smallest pulse signal of pulse are filtered out, it calculates surplus
The average value of the pulsewidth of remaining pulse signal.In this way, arteries and veins can also be reduced by way of filtering out maximum pulse width and minimum pulse width
The influence of noise and error signal in signal acquisition process is rushed, the accuracy of motor steering judgement is improved.
In a kind of optional embodiment of the present invention, the driving signal that electron speed regulator 10 is inputted to motor 20 can be electricity
Signal is pressed, the direction of the voltage signal can be associated with the determining rotation direction of motor 20.Specifically, electron speed regulator 10
It can be to 20 output voltage signal of motor, to control the rotation of motor 20, when the direction of the voltage signal of output changes, electricity
The rotation direction of machine 20 also can accordingly change.It therefore, can be with after electron speed regulator 10 determines the rotation direction of motor 20
Being rotated with the rotation direction for motor 20 is controlled by adjusting the direction of output voltage signal.
Fig. 6 is the block diagram for the unmanned vehicle that a kind of optional embodiment of the present invention provides.As shown in Figure 4 and Figure 6, originally
Invention embodiment also provides a kind of unmanned vehicle, which includes propeller 40, for driving 40 turns of propeller
Dynamic motor 20, the unmanned vehicle further include above-mentioned electron speed regulator 10 and flight controller 30.Wherein, flight control
Device 30 is used for the predetermined rotation according to motor 20, sends corresponding steering controling signal to electron speed regulator 10.
Above-mentioned technical proposal of the present invention, the arteries and veins for the steering controling signal that electron speed regulator can be issued according to flight controller
Characteristic is rushed to determine the direction of rotation of motor, and in the case where not changing the connection phase sequence of motor and electron speed regulator, controlled
Motor forward or reverse, has saved Material Cost, improves packaging efficiency.
Optional embodiment of the invention, still, embodiment of the present invention and unlimited is described in detail in conjunction with attached drawing above
Detail in above embodiment can be implemented the present invention in the range of the technology design of embodiment of the present invention
The technical solution of mode carries out a variety of simple variants, these simple variants belong to the protection scope of embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, embodiment of the present invention
To various combinations of possible ways, no further explanation will be given.
It can be with it will be appreciated by those skilled in the art that realizing that all or part of the steps in the method for above embodiment is
Relevant hardware is instructed to complete by program, which is stored in a storage medium, including some instructions are to make
Obtain all or part of step that single-chip microcontroller, chip or processor (processor) execute each embodiment the method for the present invention
Suddenly.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), deposits at random
The various media that can store program code such as access to memory (RAM, Random Access Memory), magnetic or disk.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention embodiment equally should be considered as embodiment of the present invention disclosure of that.
Claims (16)
1. a kind of method for controlling motor rotation, which is characterized in that the described method includes:
Steering controling signal is obtained, wherein the pulse characteristic of the steering controling signal is related to the rotation direction of the motor
Connection；And
The rotation direction of the motor is determined according to the pulse characteristic.
2. the method according to claim 1, wherein the method also includes:
According to determining rotation direction, Xiang Suoshu motor inputs driving signal corresponding with the rotation direction of the determination, with control
The motor is rotated with the rotation direction of the determination.
3. the method according to claim 1, wherein the steering controling signal includes pulse signal, the arteries and veins
Rush characteristic include it is following at least one: pulsewidth, pulse width variations rate, the quantity of pulse signal within the scope of predetermined pulse width, different arteries and veins
Timing and the pulse width variations rule of wide pulse signal.
4. according to the method described in claim 3, it is characterized in that, the pulsewidth of the pulse signal is less than opening for electron speed regulator
Artery is wide.
5. described according to the arteries and veins according to the method described in claim 3, it is characterized in that, the pulse characteristic includes pulsewidth
It rushes characteristic and determines that the rotation direction of the motor includes:
Detect multiple continuous pulse signals；
Calculate the average value of the pulsewidth of multiple pulse signals；And
The rotation direction of the motor is determined according to the average value.
6. according to the method described in claim 5, it is characterized in that, the pulsewidth for calculating multiple pulse signals is averaged
Value includes:
Calculate the average value of the pulsewidth of the multiple pulse signals of pulsewidth within a predetermined range；Or
Calculating filters out being averaged for multiple pulse signals after the pulse signal of maximum pulse width and the pulse signal of minimum pulse width
Value.
7. according to the method described in claim 2, it is characterized in that, the driving signal is voltage signal, the voltage signal
Direction with determine the rotation direction of the motor it is associated.
8. a kind of electron speed regulator, which is characterized in that the electron speed regulator includes:
Communication interface is configured to obtain steering controling signal, wherein the pulse characteristic of the steering controling signal and the electricity
The rotation direction of machine is associated；And
Control module is configured to determine the rotation direction of the motor according to the pulse characteristic.
9. electron speed regulator according to claim 8, which is characterized in that the control module is further configured to:
Driving signal corresponding with the rotation direction of the determination is inputted to the motor according to determining rotation direction, to control
Motor is stated to rotate with the rotation direction of the determination.
10. electron speed regulator according to claim 8, which is characterized in that the steering controling signal includes pulse signal,
The pulse characteristic include it is following at least one: pulsewidth, pulse width variations rate, the quantity of pulse signal within the scope of predetermined pulse width,
Timing and the pulse width variations rule of the pulse signal of distinct pulse widths.
11. electron speed regulator according to claim 10, which is characterized in that the pulsewidth of the pulse signal is less than electronics tune
The starting pulsewidth of fast device.
12. electron speed regulator according to claim 10, which is characterized in that the pulse characteristic includes pulsewidth, the control
Molding root tuber determines that the rotation direction of the motor includes: according to the pulse characteristic
Detect continuous multiple pulse signals；
Calculate the average value of the pulsewidth of multiple pulses；And
The rotation direction of the motor is determined according to the average value.
13. electron speed regulator according to claim 12, which is characterized in that the control module calculates multiple pulses
The average value of the pulsewidth of signal includes:
Calculate the average value of the pulsewidth of the multiple pulse signals of pulsewidth within a predetermined range；Or
Calculating filters out being averaged for multiple pulse signals after the pulse signal of maximum pulse width and the pulse signal of minimum pulse width
Value.
14. electron speed regulator according to claim 9, which is characterized in that the driving signal is voltage signal, the electricity
Press the direction of signal associated with the rotation direction of the motor determined.
15. a kind of unmanned vehicle, which is characterized in that the unmanned vehicle includes propeller, for driving the propeller
The motor of rotation, the unmanned vehicle further include:
According to electron speed regulator described in claim 8 to 14 any one；And
Flight controller, for the predetermined rotation according to the motor, Xiang Suoshu electron speed regulator sends corresponding turn to
Control signal.
16. a kind of machine readable storage medium, which is characterized in that be stored with instruction on the machine readable storage medium, the instruction
For executing electron speed regulator according to claim 1 to method described in 7 any one.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811237395.1A CN109450336A (en) | 2018-10-23 | 2018-10-23 | For controlling method, electricity tune, unmanned vehicle and the storage medium of motor rotation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811237395.1A CN109450336A (en) | 2018-10-23 | 2018-10-23 | For controlling method, electricity tune, unmanned vehicle and the storage medium of motor rotation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113093617A (en) * | 2021-04-06 | 2021-07-09 | 安徽理工大学 | Four-axis unmanned aerial vehicle motor turns to judgement system based on DSP |
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| CN108476008A (en) * | 2017-04-25 | 2018-08-31 | 深圳市大疆创新科技有限公司 | For the control method of driving motor rotation, electron speed regulator, power suit and unmanned vehicle |
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Address after: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant after: Guangzhou Jifei Technology Co.,Ltd. Address before: 510000, No. 1, Cheng Cheng Road, Gaotang Software Park, Guangzhou, Guangdong, Tianhe District, 3A01 Applicant before: Guangzhou Xaircraft Technology Co.,Ltd. |
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