CN109831144A - Temperature protecting method, device and unmanned vehicle - Google Patents
Temperature protecting method, device and unmanned vehicle Download PDFInfo
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
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Abstract
The present embodiments relate to motor temperature control technology field, a kind of temperature protecting method, device and unmanned vehicle are disclosed.Wherein, which includes: to obtain motor in corresponding unit power of several default unit time；According to unit power and default total power threshold, the current power threshold value of motor is calculated；The instantaneous power for controlling motor is less than or equal to current power threshold value.In the above manner, the present invention can prevent electromotor high-temperature from burning and influencing the performance of motor without detecting temperature.
Description
Technical Field
The embodiment of the invention relates to the technical field of motor temperature control, in particular to a temperature protection method and device and an unmanned aerial vehicle.
Background
With the development of the unmanned aircraft technology, the unmanned aircraft is widely applied to the military and civil fields. Unmanned aerial vehicles typically include a plurality of blades, and the rotation of the plurality of blades is used to generate upward lift and forward power, and the power for the rotation of the blades is typically provided by a motor connected thereto.
During the normal operation of the motor, heat is generated, and the heat mainly comes from: the heat generated by the eddy current loss generated in the stator silicon steel sheet due to the current flowing through the coil winding and the magnetic flux. The problem that the insulating layer of the coil is burnt and the permanent magnet is demagnetized is easily caused by overhigh temperature of the motor.
In the design of the existing unmanned aerial vehicle, a current limiting method is generally adopted, namely, the maximum current when the motor runs is limited, so that the working current is within the limited current, and the temperature is controlled. However, this method directly limits the maximum output capacity of the motor, which easily causes the acceleration maneuvering performance of the unmanned aerial vehicle and the wind resistance performance to be poor.
Disclosure of Invention
The embodiment of the invention aims to provide a temperature protection method, a temperature protection device and an unmanned aerial vehicle, which do not need to detect temperature, can prevent a motor from being burnt at high temperature and do not influence the performance of the motor.
In order to solve the above technical problem, in a first aspect, an embodiment of the present invention provides a temperature protection method, including: acquiring unit power corresponding to a plurality of preset unit time of a motor; calculating a current power threshold of the motor according to the unit power and a preset total power threshold; controlling the instantaneous power of the motor to be less than or equal to the current power threshold.
In some embodiments, the calculating a current power threshold of the motor according to the unit power and a preset total power threshold includes:
calculating the current power threshold according to the following formula:
wherein, PslmtIs the current power threshold, PlmtFor presetting a total power threshold, T0For presetting unit time, N preset unit times T from the start of work to the current moment0Corresponding to a power unit of P1、P2、P3、P4、...、PN。
In some embodiments, said controlling the instantaneous power of the motor to be less than or equal to the current power threshold comprises: acquiring instantaneous current and instantaneous voltage of the motor; controlling the magnitude of the instantaneous current or the instantaneous voltage such that the product of the instantaneous current and the instantaneous voltage is less than or equal to the present power threshold.
In some embodiments, said controlling the magnitude of said instantaneous current or said instantaneous voltage such that the product of said instantaneous current and said instantaneous voltage is less than or equal to said present power threshold comprises: controlling the instantaneous voltage to decrease when the motor accelerates such that a product of the instantaneous current and the instantaneous voltage is less than or equal to the present power threshold.
In some embodiments, the obtaining unit power corresponding to a plurality of preset unit times of the motor specifically includes: and acquiring unit power corresponding to each preset unit time of the motor in preset time.
In some embodiments, the preset time is 1 second or more and 30 seconds or less.
In some embodiments, the obtaining unit power of the motor corresponding to a plurality of preset unit times within a preset time includes: acquiring the total power of the motor within the preset time; and calculating the average power of a plurality of preset unit times in a preset time according to the total power, and taking the average power as the unit power.
In a second aspect, an embodiment of the present invention further provides a temperature protection device, including: the unit power module is used for acquiring unit power corresponding to the motor in a plurality of preset unit time; the current power threshold module is used for calculating a current power threshold of the motor according to a plurality of unit powers and a preset total power threshold; and the control module is used for controlling the instantaneous power of the motor to be less than or equal to the current power threshold value.
In some embodiments, the current power threshold module is specifically configured to:
calculating the current power threshold according to the following formula:
wherein, PslmtIs the current power threshold, PlmtFor presetting a total power threshold, T0For presetting unit time, N preset unit times T from the start of work to the current moment0Corresponding to a power unit of P1、P2、P3、P4、...、PN。
In some embodiments, the control module comprises: the acquisition unit is used for acquiring instantaneous current and instantaneous voltage of the motor; and the control unit is used for controlling the magnitude of the instantaneous current or the instantaneous voltage so that the product of the instantaneous current and the instantaneous voltage is smaller than or equal to the current power threshold value.
In some embodiments, the control unit is specifically configured to: controlling the instantaneous voltage to decrease when the motor accelerates such that a product of the instantaneous current and the instantaneous voltage is less than or equal to the present power threshold.
In some embodiments, the unit power module comprises: and the timing acquisition unit is used for acquiring the unit power corresponding to each preset unit time in the preset time.
In some embodiments, the preset time is 1 second or more and 30 seconds or less.
In some embodiments, the timing acquisition unit comprises: the total power subunit is used for acquiring the total power of the motor within the preset time; and the average power subunit is used for calculating the average power of a plurality of preset unit times within a preset time according to the total power, and taking the average power as the unit power.
In a third aspect, an embodiment of the present invention further provides an unmanned aerial vehicle, including:
a body;
the machine arm is connected with the machine body;
the power device is arranged on the horn and comprises a motor arranged on the horn and a propeller connected with the motor; and
the controller is arranged on the machine body and is electrically connected with the motor,
the controller includes:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the temperature protection method described above.
In a fourth aspect, the embodiments of the present invention also provide a non-transitory computer-readable storage medium, which stores computer-executable instructions that, when executed by an unmanned aerial vehicle, cause the unmanned aerial vehicle to perform the above-mentioned temperature protection method.
The embodiment of the invention calculates the current power threshold of the motor by acquiring the unit power corresponding to a plurality of preset unit times from the beginning of the motor to the current moment, and controls the instantaneous power of the motor not to exceed the current power threshold, so that the total power of the motor in a certain time is controlled not to exceed the limit total power, the purpose of controlling the temperature of the motor is achieved, the temperature detection is not needed, the high-temperature burning of the motor can be prevented, and the performance of the motor is not influenced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic view of an application scenario of a temperature protection method and apparatus provided in an embodiment of the present invention;
fig. 2 is a schematic flow chart of a temperature protection method according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a temperature protection device according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a hardware structure of a controller according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. The terms "first" and "second" used herein do not limit the data and execution order, but distinguish the same items or similar items having substantially the same functions and actions.
The temperature protection method and device of the embodiment of the invention can be executed or set in any type of terminal with a processor with user interaction device and operation capability, such as a temperature protection system, an electronic speed regulator, an unmanned aerial vehicle, a smart phone, a tablet computer, a palm computer, a smart watch and other terminals.
The temperature protection method of the embodiment of the invention achieves the aim of controlling the temperature of the motor by controlling the total power of the motor not to exceed the limit total power within a certain time, does not need to detect the temperature, can prevent the motor from being burnt out at high temperature, and does not influence the performance of the motor.
The embodiments of the present invention will be further explained with reference to the drawings.
It should be understood that the following examples are provided by way of illustration and are not intended to limit the invention in any way to the particular embodiment disclosed.
The method and the device for protecting the temperature of the motor are suitable for the application scene shown in fig. 1, the application scene comprises an unmanned aerial vehicle 100, and the unmanned aerial vehicle 100 can comprise a fuselage, a horn connected with the fuselage, a power device arranged on the horn and a controller 12 arranged on the fuselage. The power device comprises a motor 11 arranged on the horn and a propeller connected with an output shaft of the motor 11, and the motor 11 drives the propeller to rotate at a high speed so as to provide the lift force or flying power for the unmanned aerial vehicle 100 to fly. The motor 11 is electrically connected to the controller 12.
In other possible embodiments, the unmanned aerial vehicle 100 may be any suitable type of high or low altitude aircraft, including typical quadcopters, hovering drones, and the like.
The motor 11 may be a permanent magnet synchronous motor or an asynchronous ac motor. The controller 12 is configured to adjust a rotation speed of the motor 11 according to the control signal, so that the motor 11 drives the load to move. The controller 12 may be a motor controller or a flight controller, among others.
When the controller 12 is a flight controller, the motor 11 may be disposed in an electronic speed regulator, the controller 12 is connected to the electronic speed regulator, the controller 12 is configured to calculate a current power threshold of the motor 11, and send an accelerator control signal or other control signals to the electronic speed regulator according to the current power threshold, and the electronic speed regulator is configured to adjust a rotation speed of the motor 11 according to the control signals sent by the controller 12, so that an instantaneous power of the motor 11 is less than or equal to the current power threshold.
When the controller 12 is a motor controller, the unmanned aerial vehicle 100 may further include a motor driver electrically connected to the motor 11, the motor driver and the controller 12 are integrated into an electronic speed regulator, the electronic speed regulator is connected to a flight controller in the unmanned aerial vehicle 100, the controller 12 detects a two-phase or three-phase current signal from the motor 11 through a current sensor (not shown), calculates a current power threshold of the motor 11, and outputs an accelerator control signal or other control signals to the motor 11 through the motor driver according to the current power threshold, so that an instantaneous power of the motor 11 is less than or equal to the current power threshold.
Fig. 2 is a schematic flow chart of a temperature protection method according to an embodiment of the present invention. The temperature protection method is performed by the controller 12 of fig. 1, and as shown in fig. 2, the temperature protection method includes:
s210, obtaining unit power corresponding to the motor in a plurality of preset unit time.
In the present embodiment, the "preset unit time" refers to a value of a preset unit time, and in the present embodiment, the preset unit time T01 second or more and 30 seconds or less. The "predetermined unit times" may be predetermined unit times within a predetermined time, for example, T is a predetermined time, and T is divided into N predetermined unit times T0If N is equal to T0/T。
In this embodiment, the "unit power" is the output power corresponding to each preset unit time, and since the current and the voltage are not constant when the motor operates, the output power of the motor also varies, so the output power corresponding to each preset unit time may also be different.
Wherein, obtain the unit power that the motor corresponds at a plurality of preset unit interval, specifically include:
s211, acquiring unit power corresponding to each preset unit time in the preset time.
The preset time is a preset duration, and in this embodiment, the preset time is greater than or equal to 1 second and less than or equal to 30 seconds. S211 may specifically be: the working time of the motor is recorded when the motor starts to work, and the unit power corresponding to each preset unit time in the preset time is acquired when the preset time is reached, so that the current power threshold of the motor is calculated according to the unit power in the preset time to control the power of the motor. For example, every time the preset time T is reached, N preset unit times T within the preset time T are acquired0Corresponding unit power P1、P2、P3、P4…PN. For another example, assuming that the preset time is 10 seconds and the unit preset time is 1 second, the motor is acquired for 10 secondsUnit power P corresponding to each second1、P2、P3、P4…P10。
There are various methods for obtaining the unit power, and S211 may include:
s2111, acquiring the total power of the motor within a preset time;
s2112, according to the total power, calculating to obtain average power of a plurality of preset unit times in a preset time, and taking the average power as the unit power.
In the embodiment, the average voltage and the average current of the motor in the preset time are obtained, the total power in the preset time is calculated, the total power in the preset time is divided into a plurality of parts according to the preset unit time, the average power is obtained, and the unit power corresponding to each preset unit time is obtained. The level average voltage and the average current can be respectively obtained through the current detection circuit and the voltage detection circuit. For example, assuming that the average voltages of the motor during the preset time T are U and I, the total power P during the preset time is UI, and assuming that the preset unit time is T0，T/T0N, then the average power PFlat plateObtaining the unit power P corresponding to each preset unit time1＝P2＝P3＝P4＝…＝PN＝PFlat plate。
Optionally, the unit power corresponding to each preset unit time may also be directly calculated, and S211 may further include:
s2113, acquiring unit average voltage and unit average current corresponding to each preset unit time within preset time of the motor;
s2114, calculating each unit power in preset time according to the unit average voltage and the unit average current.
In S2113, "unit average voltage and unit average current corresponding to a preset unit time" means the unit average voltage and unit average current of the motor in one preset unit time. The unit average voltage and the unit average current corresponding to the preset unit time are obtained through the current detection circuit and the voltage detection circuit. In some cases, for example, when the preset unit time is short, the instantaneous voltage and the instantaneous current at a certain time within the preset unit time may be regarded as the unit average voltage and the unit average current, respectively.
In this embodiment, it is assumed that the preset time T includes N preset unit times T0Obtaining a first preset unit time T0Corresponding to a unit average voltage of U1Unit average current of I1Second predetermined unit time T0Corresponding to a unit average voltage of U2Unit average current of I2Third predetermined unit time T0Corresponding to a unit average voltage of U3Has a unit average current of 13… … Nth preset unit time T0Corresponding to a unit average voltage of UNUnit average current of INThen the first preset unit time T0Corresponding unit power P1＝U1I1Second predetermined unit time T0Corresponding unit power P2＝U2I2Third predetermined unit time T0Corresponding unit power P3＝U3I3… … Nth preset unit time T0Corresponding unit power PN＝UNINThen P is obtained1、P2、P3、P4…PNIs N unit powers within a preset time T.
And S220, calculating the current power threshold of the motor according to the unit powers and the preset total power threshold.
In this embodiment, the "preset total power threshold" is a preset limited total power, so that the purpose of controlling the temperature of the motor is achieved by controlling the total power of the motor within a certain time period not to exceed the limited total power. The preset total power threshold value can be set according to parameters, performance and other practical conditions of the motor.
In this embodiment, after obtaining a plurality of unit powers, the current power threshold of the motor can be calculated according to the unit powers, the unit powers and the preset total power threshold. The specific analysis is as follows:
it is assumed that the total power of the motor is limited not to exceed a preset total power threshold P within a preset time TlmtDividing the preset time T into N preset unit times T0Obtaining N preset unit times T0Respectively corresponding to a unit power of P1、P2、P3、P4…PNIf the total power in the preset time T is:
P＝P1+P2+P3+P4+…+PN
suppose that the motor is in the next preset unit time T0Corresponding to a power unit of PN+1And then:
P≤Plmt
namely, it is
P2+P3+P4+…+PN+PN+1≤Plmt
Namely, it is
PN+1≤Plmt-(P2+P3+P4+…+PN)①
Then at the next preset unit time T0The instantaneous power in is:
substitution of formula ① into formula ② yields
Then the current power threshold is
In this embodiment, after obtaining a number of unit powers, the current power threshold is calculated according to the following formula:
wherein, PslmtIs the current power threshold, PlmtFor presetting a total power threshold, T0For presetting unit time, N preset unit times T from the start of work to the current moment0Corresponding to a power unit of P1、P2、P3、P4、...、PN。
In this embodiment, the current power threshold of the motor at the current moment is calculated every preset time, so that the current power thresholds at different times are obtained, and the motor can be dynamically controlled.
And S230, controlling the instantaneous power of the motor to be less than or equal to the current power threshold.
In this embodiment, after the current power threshold is obtained through calculation, the instantaneous power of the motor is controlled to be less than or equal to the current power threshold, so that the total power of the motor in a certain time does not exceed the total power limit, and the temperature of the motor can be controlled.
In S230, may include:
s231, acquiring instantaneous current and instantaneous voltage of the motor;
and S232, controlling the magnitude of the instantaneous current or the instantaneous voltage so that the product of the instantaneous current and the instantaneous voltage is smaller than or equal to the current power threshold.
Wherein, the instantaneous current and the instantaneous voltage of the motor can be obtained through related detection devices. Assume that the instantaneous current obtained is IsInstantaneous voltage is UsBy controlling the instantaneous voltage UsOr instantaneous current IsSo that U issIs≤PslmtI.e. by
Optionally, the specific implementation manner in S232 may be: when the motor accelerates, the instantaneous voltage is controlled to decrease so that the product of the instantaneous current and the instantaneous voltage is less than or equal to the present power threshold. Because the motor needs a large current for a short time to work when accelerating, in order to ensure that the instantaneous power of the motor does not exceed the current power threshold, the instantaneous voltage of the motor needs to be controlled to be reduced so as to control the instantaneous power of the motor. Of course, in another embodiment, the instantaneous current of the motor is controlled to decrease as the instantaneous voltage of the motor increases such that the product of the instantaneous current and the instantaneous voltage is less than or equal to the present power threshold. It is of course also possible to control the instantaneous voltage and the instantaneous current of the motor simultaneously to control the instantaneous power of the motor.
It should be noted that the instantaneous voltage and/or instantaneous current of the motor may be controlled by sending a throttle control signal or other control signal to the motor so that the instantaneous power of the motor is less than or equal to the current power threshold.
It should be noted that the temperature protection method according to the embodiment of the present invention is applicable to various control strategies of a motor, for example, a control strategy in which reactive voltage is output in a closed loop manner by a PI regulator through reactive current, active voltage is directly given, a position of a speedometer is estimated by a slip film observation in a non-inductive strategy, and is also applicable to other control strategies, for example, a current loop, a speed loop and a current loop control strategy.
In the embodiment, the current power threshold of the motor is calculated by obtaining the unit power corresponding to a plurality of preset unit times from the beginning of the motor to the current moment, and the instantaneous power of the motor is controlled not to exceed the current power threshold, so that the total power of the motor in a certain time is controlled not to exceed the limit total power, the purpose of controlling the temperature of the motor is achieved, the temperature does not need to be detected, the high-temperature burning of the motor can be prevented, and the performance of the motor is not influenced.
Fig. 3 is a schematic structural diagram of a temperature protection device according to an embodiment of the present invention. The temperature protection device may be used with the controller 12 of fig. 1. As shown in fig. 3, the temperature protection apparatus 300 includes: a unit power module 310, a current power threshold module 320, and a control module 330.
The unit power module 310 is configured to obtain unit power corresponding to a plurality of preset unit times of the motor. The current power threshold module 320 calculates a current power threshold of the motor according to the unit powers and a predetermined total power threshold. The control module 330 is configured to control the instantaneous power of the motor to be less than or equal to the current power threshold.
The current power threshold module 320 is specifically configured to:
calculating the current power threshold according to the following formula:
wherein, PslmtIs the current power threshold, PlmtFor presetting a total power threshold, T0For presetting unit time, N preset unit times T from the start of work to the current moment0Corresponding to a power unit of P1、P2、P3、P4、...、PN。
Wherein, the control module 330 includes: an acquisition unit and a control unit. The acquisition unit is used for acquiring instantaneous current and instantaneous voltage of the motor; the control unit is used for controlling the magnitude of the instantaneous current or the instantaneous voltage so that the product of the instantaneous current and the instantaneous voltage is smaller than or equal to the current power threshold value.
Wherein the control unit is specifically configured to: when the motor accelerates, the instantaneous voltage is controlled to decrease so that the product of the instantaneous current and the instantaneous voltage is less than or equal to the present power threshold.
Among them, the unit power module 310 includes: a timing acquisition unit. The timing acquisition unit is used for acquiring unit power corresponding to each preset unit time in preset time.
Wherein the preset time is greater than or equal to 1 second and less than or equal to 30 seconds.
Wherein, the timing acquisition unit includes: a total power subunit and an average power subunit. The total power subunit is used for acquiring the total power of the motor within a preset time; the average power subunit is configured to calculate, according to the total power, average power of a plurality of preset unit times within a preset time, and use the average power as the unit power.
It should be noted that the temperature protection device can execute the temperature protection method provided by the embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution of the temperature protection method. For technical details that are not described in detail in the device embodiments, reference may be made to the temperature protection method provided by the embodiments of the present invention.
In the embodiment of the present invention, the temperature protection device 300 obtains the unit power corresponding to a plurality of preset unit times from the beginning of the motor to the current time through the unit power module 310, the current power threshold module 320 calculates the current power threshold of the motor, and the control module 330 controls the instantaneous power of the motor not to exceed the current power threshold, so as to control the total power of the motor not to exceed the limit total power within a certain time, thereby achieving the purpose of controlling the temperature of the motor.
As shown in fig. 1, an embodiment of the present invention further provides an unmanned aerial vehicle 100, where the unmanned aerial vehicle 100 includes:
a body;
the machine arm is connected with the machine body;
the power device is arranged on the machine arm and comprises a motor 11 arranged on the machine arm and a propeller connected with the motor 11; and
and the controller 12 is arranged on the machine body, and the controller 12 is electrically connected with the motor 11.
In fig. 1, the fuselage, the horn, and the power plant are not shown. In this embodiment, unmanned aerial vehicle 100 may be a rotorcraft, the arms of which may be fixedly attached, integrally formed, or removably attached to the fuselage. The power device is used for providing flying power or lift force for the unmanned aerial vehicle 100, and generally comprises a motor 11 arranged at the tail end of a horn and a rotor connected with an output shaft of the motor 11, wherein the motor 11 drives the rotor to rotate at a high speed so as to provide the flying power or lift force for the unmanned aerial vehicle 100.
Wherein, the controller 12 includes: one or more processors 121 and a memory 122, with one processor 121 being exemplified in fig. 4. The processor 121 and the memory 122 may be connected by a bus or other means, such as the bus connection shown in fig. 1.
The memory 122, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/units (e.g., the unit power module 310, the current power threshold module 320, and the control module 330 shown in fig. 3) corresponding to the temperature protection method in the embodiment of the present invention. The processor 121 executes various functional applications and data processing of the unmanned aerial vehicle, namely, implements the temperature protection method of the above-described method embodiment, by executing the nonvolatile software program, instructions and units stored in the memory 122.
The memory 122 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created from the use of the unmanned aerial vehicle, and the like. Further, the memory 122 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 122 optionally includes memory located remotely from processor 121, which may be connected to the UAV via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more units are stored in the memory 122, and when executed by the one or more processors 121, perform the temperature protection method in any of the above-described method embodiments, for example, the above-described methods S211-S250 in fig. 2, and implement the functions of the module 310 and 330 shown in fig. 3.
The unmanned aerial vehicle can execute the temperature protection method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. Technical details that are not elaborated in the possible embodiments of the unmanned aerial vehicle may be referred to the method provided by the embodiments of the invention.
Embodiments of the present invention also provide a non-transitory computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, which are executed by one or more processors, such as the processor 121 in fig. 4, so that the one or more processors can execute the temperature protection method in any of the method embodiments, such as the methods S210-S230 in fig. 2, described above, to implement the functions of the module 310 and 330 in fig. 3.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; within the context of the present application, where technical features in the above embodiments or in different embodiments can also be combined, the steps can be implemented in any order and there are many other variations of the different aspects of the present application as described above, which are not provided in detail for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (16)
1. A method of temperature protection, comprising:
acquiring unit power corresponding to a plurality of preset unit time of a motor;
calculating a current power threshold of the motor according to the unit power and a preset total power threshold;
controlling the instantaneous power of the motor to be less than or equal to the current power threshold.
2. The method of claim 1, wherein calculating the current power threshold of the electric machine based on the unit power and a preset total power threshold comprises:
calculating the current power threshold according to the following formula:
wherein, PslmtIs the current power threshold, PlmtFor presetting a total power threshold, T0For presetting unit time, N preset unit times T from the start of work to the current moment0Corresponding to a power unit of P1、P2、P3、P4、...、PN。
3. The method of claim 1 or 2, wherein the controlling the instantaneous power of the motor to be less than or equal to the current power threshold comprises:
acquiring instantaneous current and instantaneous voltage of the motor;
controlling the magnitude of the instantaneous current or the instantaneous voltage such that the product of the instantaneous current and the instantaneous voltage is less than or equal to the present power threshold.
4. The method of claim 3, wherein said controlling the magnitude of the instantaneous current or the instantaneous voltage such that the product of the instantaneous current and the instantaneous voltage is less than or equal to the present power threshold comprises:
controlling the instantaneous voltage to decrease when the motor accelerates such that a product of the instantaneous current and the instantaneous voltage is less than or equal to the present power threshold.
5. The method according to any one of claims 1 to 4, wherein the obtaining of the unit power of the motor corresponding to a plurality of preset unit times specifically comprises:
and acquiring unit power corresponding to each preset unit time of the motor in preset time.
6. The method according to claim 5, wherein the preset time is 1 second or more and 30 seconds or less.
7. The method according to claim 5, wherein the obtaining unit power of the motor corresponding to a plurality of preset unit times within a preset time comprises:
acquiring the total power of the motor within the preset time;
and calculating the average power of a plurality of preset unit times in a preset time according to the total power, and taking the average power as the unit power.
8. A temperature protection device, comprising:
the unit power module is used for acquiring unit power corresponding to the motor in a plurality of preset unit time;
the current power threshold module is used for calculating a current power threshold of the motor according to a plurality of unit powers and a preset total power threshold;
and the control module is used for controlling the instantaneous power of the motor to be less than or equal to the current power threshold value.
9. The apparatus of claim 8, wherein the current power threshold module is specifically configured to:
calculating the current power threshold according to the following formula:
wherein, PslmtIs the current power threshold, PlmtFor presetting a total power threshold, T0Is a preset unitTime, N preset unit times T from the start of work to the current moment0Corresponding to a power unit of P1、P2、P3、P4、...、PN。
10. The apparatus of claim 8 or 9, wherein the control module comprises:
the acquisition unit is used for acquiring instantaneous current and instantaneous voltage of the motor;
and the control unit is used for controlling the magnitude of the instantaneous current or the instantaneous voltage so that the product of the instantaneous current and the instantaneous voltage is smaller than or equal to the current power threshold value.
11. The apparatus according to claim 10, wherein the control unit is specifically configured to:
controlling the instantaneous voltage to decrease when the motor accelerates such that a product of the instantaneous current and the instantaneous voltage is less than or equal to the present power threshold.
12. The apparatus of any of claims 8-11, wherein the unit power module comprises:
and the timing acquisition unit is used for acquiring the unit power corresponding to each preset unit time in the preset time.
13. The apparatus of claim 12, wherein the preset time is 1 second or more and 30 seconds or less.
14. The apparatus of claim 12, wherein the timing acquisition unit comprises:
the total power subunit is used for acquiring the total power of the motor within the preset time;
and the average power subunit is used for calculating the average power of a plurality of preset unit times within a preset time according to the total power, and taking the average power as the unit power.
15. An unmanned aerial vehicle, comprising:
a body;
the machine arm is connected with the machine body;
the power device is arranged on the horn and comprises a motor arranged on the horn and a propeller connected with the motor; and
the controller is arranged on the machine body and is electrically connected with the motor,
the controller includes:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the temperature protection method of any one of claims 1-7.
16. A non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by an unmanned aerial vehicle, cause the unmanned aerial vehicle to perform the temperature protection method of any of claims 1-7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910154682.4A CN109831144A (en) | 2019-03-01 | 2019-03-01 | Temperature protecting method, device and unmanned vehicle |
| PCT/CN2020/076798 WO2020177594A1 (en) | 2019-03-01 | 2020-02-26 | Temperature protection method and apparatus, and unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910154682.4A CN109831144A (en) | 2019-03-01 | 2019-03-01 | Temperature protecting method, device and unmanned vehicle |
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| CN201910154682.4A Pending CN109831144A (en) | 2019-03-01 | 2019-03-01 | Temperature protecting method, device and unmanned vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020177594A1 (en) * | 2019-03-01 | 2020-09-10 | 深圳市道通智能航空技术有限公司 | Temperature protection method and apparatus, and unmanned aerial vehicle |
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